Police say the accident happened at 1:48 p.m. Thursday in Chester County's Pocopson Township, near the MTV star's home, The Philadelphia Inquirer reported.
Margera was sitting in his 2011 Porsche Panamera at a stop sign when an unidentified driver of a Ford pickup sideswiped the length of his car.
Margera immediately called his mother April Magera to get insurance information and told her he saw the crash coming.
"I'm watching this truck make the widest turn ever, and thinking: 'That guy's going to stop, isn't he?'" he told his mother.
April Margera said her son asked the other driver, "Did you not see me?"
"He told Bam he was looking at his GPS," she said. "And then he got excited and happy when he realized who he hit."
Trooper Corey Monthei, a state police spokesman, said the incident qualified as a "non-reportable crash," as no one was injured, no vehicle was towed and there was no sign of alcohol or drug impairment, and the driver, an employee trying to make a delivery at the time, was not cited.
"That occasionally happens," Monthei said. "Sometimes we'll just issue a warning."
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