The accident happened at Mac Skip Hire's site in Hinckley, Leicestershire, on 4 November 2015.
Leicester Magistrates' Court was told that the employee was trying to remove overhanging waste from a moving shovel loader when she was crushed between it and her lorry.
The Health and Safety Executive's (HSE) investigation found the company had failed to implement systems and site rules for loading operations.
It was served an improvement notice to ensure pedestrians and vehicles could circulate safely. This was complied with in February 2016.
Mac Skip Hire pleaded guilty to breaching s 2(1) of the Health and Safety at Work Act. It was fined £60,000 and ordered to pay £14,500 costs.
HSE inspector Mark Austin said: "This was a tragic and wholly avoidable incident, caused by the failure to ensure that basic site controls and rules were being managed and enforced, such that pedestrians were not at risk from these large vehicles working in the area."