The truck hung from the Chavantes bridge near Fartura, in southern Brazil, on Saturday.
Passers-by hauled the driver from his cab using a rope. He was unhurt after the 25-minute rescue operation
His vehicle skidded over the guard rail as he crossed the bridge linking the states of Sao Paulo and Parana.
Local reports suggest the driver lost control of his empty truck after a car stopped abruptly on the bridge.
Efforts to rescue the lorry on Sunday had to be halted, after fears that the bridge itself would collapse.