Director Sam Mendes was in the black Mercedes, which had a camera mounted on its roof. He was left "shaken up" by the incident.
The injured man was treated at the scene by paramedics before being taken to hospital.
Filming on the movie — called Skyfall — was halted for an hour to allow Mendes and other crew members to recover.
About 75 vehicles, including cabs and buses, were being driven by stuntmen when the crash happened at London's Millbank on Saturday.
Dench, who plays Bond's boss M, was being filmed in one of the cars.
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