He said the two people travelling in the campervan, a couple in their 50s, and two people in the ute walked away from the accident without injury.
The beast was put down at the scene.
Mr Hickford said another two stray cattle were found further along the road. One had died but another had been put into a paddock.
He said it was likely they had fallen off the back of a truck.
"It could have been really serious," he said.
"It was dark and because cattle beasts are black you don't see them until they are there right in front of you."
He said friends of those driving the campervan were in a following vehicle and took the shaken couple back to New Plymouth.