The road was closed and firefighters spent nearly an hour at the scene.
The pedestrian, a 42-year-old man, was taken to hospital.
Police say his injuries are non-life-threatening.
The 48-year-old male driver of the lorry was arrested in connection with an alleged road traffic offence.
Police probe continues after lorry hit pedestrian on West Marketgait
A Police Scotland spokesperson said: “We were called at 9.55pm on Monday to a report of a crash involving a pedestrian and a lorry on West Marketgait in Dundee.
“Emergency services attended and the pedestrian, a 42-year-old man, was taken to hospital with non-life threatening injuries.
“The lorry driver, a 48-year-old man, was arrested in connection with a road traffic offence and inquiries are ongoing.”
