The man – thought to be a 91-year-old visitor to the area – was taken to hospital, by road ambulance, with crush injuries to his lower body after becoming trapped under the rear wheel of the HGV.
The incident happened yesterday at the Teanlowe Centre.
Traffic chaos followed in Poulton town centre as police, the fire brigade and ambulance service dealt with the accident.
The air ambulance was also scrambled.
Ambulance chief Dave Rigby, from the North West Ambulance Service, said emergency services had worked together to get the man out.
A medical team from Victoria Hospital had to be sent to the scene to assess the situation before the pensioner could be released.
Mr Rigby said: "It was quite a protracted operation, due to the way the man was trapped and the nature of his injuries.
"The patient was trapped between the wheels of the vehicle and we did not want to release him without seeking advice from a consultant.
"The paramedics stabilised the patient and gave him pain relief and stayed under with him while the fire brigade worked.
"It took about 30 minutes to get him free. We didn't want to rush things, we had to make sure he was stable first."
Eyewitnesses said the accident happened near to the Alleyway Cafe, off, Church Street, where lorries and wagons make deliveries to local businesses.