The heart-stopping moment when three people were crushed underneath scaffolding that collapsed on a New York City sidewalk was caught on video.

A 62-year-old box truck driver attempted to pull out of a parking spot when the edge of his vehicle slammed into the scaffolding set up on West 29 Street near Eighth Avenue in Chelsea - leading to the structure tumbling down on three pedestrians at around 8.15am Monday morning, Fox 5 reported.

All three victims were taken to the hospital after the incident - one suffering from a serious head injury.

The horrifying video footage captured a man heading towards the entrance underneath the scaffolding while pushing a cart of supplies.

But he took a step back as the truck hit the building, and just seconds later, the structure quickly collapsed right on top of three innocent people walking through - one who attempted to run to safety but was ultimately crushed by the debris.

The footage showed the man letting go of his supply cart and backing up even further before taking out his phone while at a safe distance.

The 62-year-old driver was then captured getting out of his truck and rushing towards the disaster, where he got on his hands and knees in an attempt to help.

Six other witnesses followed suit and ran over to begin throwing the debris out of the way.

Terrifying video footage captured the moment three people were crushed underneath scaffolding that collapsed on a sidewalk in Chelsea, New York on Monday morning

Terrifying video footage captured the moment three people were crushed underneath scaffolding that collapsed on a sidewalk in Chelsea, New York on Monday morning

A 62-year-old box truck driver attempted to pull out of a parking spot when the edge of his vehicle slammed into the scaffolding, causing the structure to quickly collapse leading to multiple witnesses running over in an attempt to help

A 62-year-old box truck driver attempted to pull out of a parking spot when the edge of his vehicle slammed into the scaffolding, causing the structure to quickly collapse leading to multiple witnesses running over in an attempt to help