Smith's wife, Megan, and one of the couple's friends were also in the pickup and were not hurt.
According to a news release, Smith lost control of his Silverado truck near his home in Evergreen around 8:45 a.m. The truck slid off the road and crashed into a stand of trees.
Smith and Menard will compete in Sunday's Kobalt Tools 400 Sprint Cup Series race at Las Vegas Motor Speedway.
Smith drives the No. 78 Chevrolet for Furniture Row Racing which is based in Denver.
Menard drives the No. 27 Chevrolet for Richard Childress Racing.
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