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The zoo said the van driver took Holly to an emergency veterinarian, who treated the marsupial for a concussion.
"All in all we are glad to have her back, not the way we wanted to have her back but she's back and already showing positive signs and recovery," the zoo said.
A zoo representative said zookeepers knew Holly was in the area and had been making nightly efforts to keep her away from the road.
A second wallaby that escaped last week from another British zoo, the Filey Bird Garden and Animal Park in North Yorkshire, remains on the loose.