The dozer was stationary on the left-hand side of a dump.
The haul truck operator - who had eight weeks' experience - approached the tip head and did a U-turn before reversing to the dump.
The dozer operator attempted to contact the truck operator to warn of their presence but was unsuccessful.
The NSW Resources Regulator said the truck's right rear tyre made contact with the front right corner of the blade.
"Mine operators should continually review the suitability of collision avoidance technology as it evolves, and new products become available," it said.
"Operators should prioritise segregation between dozers and haul trucks on dumps over lower order controls such as positive communication and work procedures."
