Drive told investigators she had the vehicle's semi-autonomous Autopilot mode engaged when she slammed into the back of the lorry.
Tesla also missed Model 3 production goals for the first quarter in April.
Mr Musk said the restructuring plans involve flattening the management structure to improve communication, as well as trimming activities not vital to the success of our mission.
Follow Tesla's stock price in real-time here. But there's been a growing push by short-sellers and some traditional supporters have begun asking more troubling questions - many now expecting Tesla to have to raise new capital despite Musk's claim that it has enough cash in hand to get through 2018 without a new stock offering.
"What's actually fantastic about this accident is that a Model S hit a fire truck at 60 miles per hour and the driver only broke an ankle. An impact at that speed usually results in severe injury or death".
In March, a Tesla Model X was on autopilot mode when it collided with a barrier on Highway 101 in Mountain View, Calif., killing the 38-year-old driver.
Jumping ship: Brexit-hit EU staff ditch UK passports
Carwyn Jones said he cannot see how "an open border on the island of Ireland" can be maintained without some form of a UK-EU customs union.
The driver of a Tesla electric auto that hit a Utah fire department vehicle over the weekend says the car's semi-autonomous Autopilot mode was engaged at the time of the crash.
Last week the agency opened a probe of a Model S that caught fire after crashing into a wall in Florida.
Since the driver was not fully focused on the road, it is unlikely that the US National Highway Traffic Safety Administration (NHTSA) and National Transport Safety Board (NTSB) will investigate the accident, the newspaper says. It is unclear if it will now investigate the Utah incident, as well. Tesla subsequently modified both the hardware and software used by the semi-autonomous system.
The driver of the fire department vehicle suffered minor whiplash and was not taken to a hospital. He also came under fire for comments made during an earnings call in which he dismissed several questions from analysts that he dismissed as "boring".
"It's super messed up that a Tesla crash resulting in a broken ankle is front page news and the ~40,000 people who died in USA auto accidents alone in past year get nearly no coverage", he said in a tweet. Accidents that past year resulted in 40,000 USA deaths, he added "get nearly no coverage".