Firefighters tackled a blaze in the garage of a house at Westview Way in Keighley.
Damage to the garage was slight but smoke filled the attached home, and fire crews used a special ventilation fan to help clear the fumes.
The three occupants of the house had been alerted by a smoke detector and fled to safety.
Crews from Keighley and Bingley fire stations were called out to the incident just after 4pm on Tuesday. They wore two breathing apparatus sets to deal with the blaze.
The cause is under investigation, but there were no suspicious circumstances.
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