I have some friends that drive in it (not going to say any names) but he has been racing part-time since 2006 in the Nascar Camping World Truck series. He races for a "under-funded" team. He averages about 10-15 starts a year since 2006. He told me he usually makes $15,000+ in sponsorship dollars a race and gets a certain percent of the winnings. He usually averages anywhere between $18,000-$22,000 a race after sponsorship dollars and racewinning (before taxes). not bad. And this is a "under-funded" Team too. Imagine what the big racing truck team drivers are making each race too.
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There is no one salary. Each driver has a negotiated contract for salary and benefits- how much depends on how good the driver is- win more races, you can require a higher pay.