Is it permitted to make insurance claims?

I've read fatwas about how insurance generally is haraam, however, if you live in countries where certain insurances are legally required, that type of insurance is not haraam. For example, car insurance is required in many countries. My question is, if you are forced to get car insurance, and you end up in a genuine accident, i.e. not an accident you do or cause on purpose, is it okay Islamically to claim from the insurance you were forced to get in the first place? Or, is it only okay to *get* forced insurance, but haraam to *claim* genuine claims on this forced insurance?