The collision, which also involved a car, happened on Woodlands Avenue in Irvine, North Ayrshire, at about 8am.
Fire, police and ambulance crews said they were called to the scene after receiving a report that a vehicle had crashed into a semi-detached property.
A car was also found to have crashed into a metal barrier along the roadside.
Two people, the male van driver and the female driver of the car, were found to be trapped. They were rescued from their vehicles by fire crews and checked over by ambulance staff.
The woman driving the car was said to have been taken by ambulance to Crosshouse Hospital in Kilmarnock.
It is not thought that those involved suffered serious injuries.
The occupier of the house is believed to be safe and there is not thought to be any serious structural damage to the house.
A spokesman for the Scottish Fire and Rescue Service said: "We received a call from Police Scotland shortly after 8am this morning and sent three appliances from Kilwinning, Dreghorn and Kilmarnock.
"Crews arrived on scene quickly and immediately began work to release two people trapped in vehicles involved in a collision.
"Firefighters used their specialist road rescue skills to safely release those involved and were working with our colleagues from the ambulance and police services throughout."
Police Scotland confirmed they were alerted to the incident at 8am.
A spokeswoman said: "We received a report that a lorry had crashed into a house in Woodlands Avenue."
She added that any injured people were described as "walking wounded", although the exact number of people affected was not given.
The fire service later confirmed the van had become "embedded" within the front of the house after coming off the road.
The spokesman said they worked with building control officers from North Ayrshire Council to make sure the vehicle could be recovered safely.
He added that paramedics decided that the man inside the van did not require further treatment.
"However, the woman was taken to Crosshouse Hospital and all the emergency responders who attended this incident will wish her well," he said.
The spokesman said the incident had happened on a main route.
"We would be remiss not to point out that this road is the main route for people travelling to and from a local primary school," he said.
"Had this incident occurred slightly later in the morning the outcome could have been much worse, so we would urge all motorists to take care on the roads and help prevent potentially serious incidents.
"Firefighters are often called to road traffic collisions to help people who have been seriously injured or even killed, and we would remind drivers they can take simple steps to reduce the risk.
"We should all ensure our vehicles are well-maintained and plan enough time to safely complete our journeys."
A spokeswoman for North Ayrshire Council said: "Our building standards team have attended the scene to make the property safe and have carried out repairs to a damaged fence."