Malcolm McCulloch, 71, was walking in Glasgow city centre when he was struck by the reversing lorry on August 10 2012, the Health and Safety Executive (HSE) said.
The retired dock worker, from the city, suffered severe chest and pelvic injuries and died in hospital.
The driver of the lorry and his colleague, employed through an agency, had not undergone "reversing assistant training".
Mr McCulloch was hit as the lorry reversed down Holm Street. He fell underneath the vehicle and was dragged along the road.
HSE inspector Eve Macready said: "Our investigation has found there was a blind spot for the driver even when using the camera, but if a reversing assistant had been used this would have prevented the incident.
"Reversing vehicles poses one of the biggest hazards in the refuse collection industry and there is plenty of guidance available on how to reduce the risks.
"The fact that the driver and his colleague had not been trained meant they did not have the skills necessary and were not fully aware of the need to use a reversing assistant. As a result Mr McCulloch has needlessly lost his life."
The fine was imposed at Glasgow Sheriff Court after the authority admitted health and safety breaches, HSE said.
A council spokesman said: "This was a tragic incident and our sympathy and thoughts are with Mr McCulloch's family.
"The council takes its responsibilities under health and safety legislation very seriously and practices have been reviewed and updated."