The court had heard how Baxter passed within a few feet of Stephen Kerwin, his wife and daughter, on their bikes on the A1034 on 23 June last year.
Mr Kerwin raised his fist at the passing Range Rover and within minutes an "angry" Baxter had stopped and was reversing "at speed" towards the family.
Mr Kerwin and his daughter, Emily, who was being towed by her father in a trailer, were crushed by the reversing vehicle.
Emily was left unconscious for six days with serious head injuries.
She also suffered a broken jaw, nose, blurred vision and four lost teeth.
Her father suffered a broken pelvis, leg and ribs and had to have three operations
Baxter, of Market Weighton, East Yorkshire, had pleaded guilty to two counts of inflicting grievous bodily harm, dangerous driving and failing to stop at the scene of an accident.
The court heard the self-employed road haulage boss had a previous conviction for assaulting a motorist after a road accident in 1994.
He also had convictions for reckless driving and speeding.
In jailing Baxter, Recorder Guy Kearl, QC, said: "You didn't stop, you drove off and left them in the road on their own, helpless.
"Incidents such as these, appalling as they are, will not be tolerated by the courts."