Fortescue Metals says one of its driverless trucks, travelling at low speed, ran into another parked at its Christmas Creek iron ore mine in the Pilbara.
No one was hurt or at risk of being injured in Monday's mishap, the miner said in a statement on Friday.
Fortescue has been retrofitting its extensive fleet of huge mining trucks with autonomous haulage systems over the past several years.
"This was not the result of any failure of the autonomous system," chief executive Elizabeth Gaines said.
The miner is conducting a full investigation into the incident.
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Fortescue said its autonomous trucks have safely travelled more than 24.7 million kilometres since 2012.
