Firefighters were called to the park just before 12.30pm this afternoon.
The safari park have confirmed that no animals were hurt in the incident, while West Midlands Ambulance Service spokesman Murray MacGregor confirmed that paramedics were not called to the scene.
A spokesman for Hereford and Worcester Fire Service said: "A crew from Kidderminster were called at 12.22pm to a small vehicle fire at West Midlands Safari Park.
"They left the scene at 1.34pm and all animals were secure."
Bethan Davis, spokeswoman for the safari park, said: "We can confirm that we have recently dealt with a vehicle fire in our lion enclosure.
"All of the animals, guests and staff are safe.
"The swift reaction from our staff meant that the vehicle was evacuated and lions were put away safely. The emergency services attended promptly, and we would like to thank them for their quick response."