The lorry attempted to turn around in St Thomas's Road, outside Chorley Police Station, at around 8.30am this morning (July 1).
But the lorry soon became trapped between the Rose and Crown Pub and the bollards outside the Magistrates' Court.
The lorry driver had to be assisted by officers who spotted the traffic chaos unfolding outside the police station.
Officers had to remove two bollards on the pavement outside the Magistrates' Court to give the driver more room to manoeuvre.
After around 30 minutes, the driver managed to reverse the lorry safely into position and the road was cleared by 9am.
The incident caused long queues and delays for people heading to work in Chorley town centre.