Pictures show the structure had toppled over after the collision and onto Darnley Road in the town centre, near Rathmore Road and Pelham Road.
Engineers worked yesterday to clear the obstruction, and a cordon and traffic cones were put up.
It happened near the station building works.
Police tweeted at 11.30pm last night: "Road is now open. Great team work and partnership working."
A police spokesman said: "Kent Police was called at 7.12pm on Sunday 23 July 2017 following a collision between a lorry and scaffolding in Pelham Road, Gravesend.
"Officers attended the scene alongside officers from Kent County Council.
"A road closure was put in place and the scaffolding was removed.
"Currently, no offences have been disclosed.
"Two people reported minor injuries and were taken to a local hospital for treatment."
Mark Truelove, a director of Gravesend Scaffolding Services which erected the metalwork, said his staff had worked hard alongside emergency services and others to clear the road and agreed it had been good team work.
He added: "The scaffolding was built to design and the falling had nothing to do with its integrity."