Derby Crown Court heard how 39-year-old Matthew Lambert was refuelling his road sweeper at the yard of Leedale Limited.
The refuelling point on the vehicle was at the rear, and it was while he was refuelling that a tipper lorry reversed into him.
Lambert was crushed between the two vehicles and died of catastrophic head injuries.
An investigation by the HSE into the incident which occurred on 26 November 2013 found there were no marked or identified vehicle and pedestrian routes.
There were no rules or control of reversing manoeuvres, and the lighting at the site was poor and below the required standard.
Leedale Limited, of Ripley, Derbyshire, pleaded guilty to safety breaches and was fined £300,000 and ordered to pay costs of £50,737.