State police said the accident happened about 5:20 p.m. when the northbound rig hit the overpass, which knocked loose debris that struck a Mercury Sable driven by Aimee M. Zimmerman, 37, of Harrisburg. The Mercury traveled out of its lane and struck a Ford truck driven by James R. Zentiska, 34, of Hellam Township.
The Mercury and Ford were disabled. Zentiska was not hurt, but Zimmerman suffered minor injuries. She was treated at York Hospital and released, a hospital spokeswoman said.
The driver of the tractor-trailer, David Wayne Long, 46, of Etna, Allegheny County, was not hurt, police said.
Both northbound lanes were closed and many drivers stranded behind the crash parked their cars and milled around the interstate while emergency crews worked to clear the road.
Northbound vehicles were detoured off I-83 at the Shrewsbury exit, police said. Pennsylvania Department of Transportation employees inspected the overpass, determining no structural damage, police said.
A single northbound lane re-opened around 6:30 p.m., police said, and both lanes opened around 8:50 p.m., according to York County 911.