Keith Fishburn, 62, of Yarm died following the crash on Friday.
A North Yorkshire Police spokesman said:
Mr Fishburn leaves behind a loving and devoted family who are being supported by specially-trained police officers
Police are urging anyone who witnessed the collision, or saw the vehicles in the moments before it happened, or has any dashcam footage that could help the investigation, to get in touch.
Please call North Yorkshire Police on 101, select option 2 and ask for Emma Drummond. You can also email firstname.lastname@example.org Please quote reference NYP-22022019-0062 when sharing information.
Police were called to a two-vehicle collision on the A170 between Helmsley and Sutton Bank at around 7am on Friday.