CRJ-200 Captain reported a collision with a de-ice truck when the Captain received the post de-ice information from the ground crew and started to taxi. The aircraft wingtip struck the de-ice truck and no injuries were reported.

Narrative

After de-icing the aircraft we were given the post de-ice information from the de-ice crew. We both thought that hey gave us the clear to taxi instruction in the report. We completed the post de-ice/anti-ice check list and began to taxi. The aircraft rolled forward a few feet then contacted the de-ice truck with the right wingtip . I stopped and set the parking break and we called the de-ice truck to confirm what happened. We then coordinated with the ground crew to get the passengers back to the terminal. I spoke with the flight attendant and passengers making sure everyone knew what was going on. I also spoke with dispatch and maintenance over the phone to let them know what had happened. Airport operations got a small bus to shuttle the passengers to the terminal. I then called the manager and let them know what had happened and to see what else we may need to do. At that point we de power the aircraft and went to operations and waited for crew support to get our schedule modified.When we got the post de-ice report we both thought the clear to taxi instruction was given. The truck was not clear and when I started to taxi we contacted the truck.There are a few things that could have helped avoid this problem. The de-ice crew could wait to give the post de-ice report until they are clear of the aircraft to avoid any confusion. We also could have re confirmed that they were clear before we taxied.