The lorry caught fire along Morpeth Road in Netherton at just before 7:40am.
A spokesperson for Cambridgeshire Fire and Rescue Service said: “At 7.38am on Wednesday, crews from Dogsthorpe and Stanground were called to a fire on Morpeth Road in Netherton, Peterborough.
“Firefighters arrived to find a fire involving a refuse lorry and extinguished it using a hose reel. They returned to their stations by 8.30am. “The cause of the fire was accidental.”