Two adults, their baby and their dog were travelling in a Hyundai Tucson along Ulan Road at 9.30pm on Wednesday when they hit a kangaroo.

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The couple stopped, got out to inspect the damage and take a few photos for their insurance company, and then kept driving.

But, just one kilometre down the road and right outside the Bombira estate on Ulan Road, they noticed a glow coming from the front of their car.

MAP: The street where the fire occurred

Fire and Rescue NSW Mudgee Acting Captain Craig Muscat and his crew were called to the scene.

"The car was fully destroyed by fire and a young family with a baby and a dog were lucky to get out of there," he said.

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Acting Cpt Muscat said the couple explained they had hit a kangaroo just up the road while driving.

"They literally then drove one kilometre down the road and pulled up because the car was on fire," he said.

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Acting Cpt Muscat said the couple did the right thing by stopping to inspect the damage.

"If you do hit an animal, then we do recommend you get out to check the damage and they did do that because they showed me the photos on their phone," he said.

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