A dump truck driver died after the truck's bed struck an overpass on I-95 in Milford Thursday, officials say.

The incident happened in the northbound lanes between exits 40 and 41 at 7:51 a.m.

All three northbound lanes of the highway were closed for nearly seven hours after the accident, but the truck has since been towed away and the lanes have reopened.

State police say the driver of the dump truck died in the crash when he was ejected from the vehicle. A physician and an off-duty EMT were driving by at the time and gave the man initial medical care.

They say the bed of the truck was in the upright position when it struck the Quarry Road overpass in Milford. It appeared that the impact ripped the box from the truck and crushed the cab.

Officials say a Jeep also struck the dump truck after the crash and the driver of the vehicle suffered non-life threatening injuries. 

Quarry Road across I-95 was initially closed as well Thursday morning due to damage concerns on the bridge, but DOT workers deemed it safe and the road was reopened.

News of the incident brought groups of onlookers onto the Quarry Road overpass, who watched as crews cleared the area throughout the day.