Washington State Patrol says 34-year-old Alfredo Larios of Toppenish was driving south on U.S. 97 just after 7 p.m. Monday when he failed to yield to a red light. His car then collided with the semi, which was turning onto Fort Road.
The crash blocked highway lanes for about two hours.
Larios was taken to Yakima Valley Memorial Hospital, then transferred to Harborview Medical Center in Seattle.
The driver of the semi-truck, a 38-year-old Idaho man, was not injured.
The cause of the crash is still under investigation. Troopers say they do not believe alcohol or drugs played a role.