The pedestrian, a man in his 50s, was pronounced dead at the scene after being hit by the truck on the M5 near Taunton.
The motorway was shut down for hours as emergency services investigated how the crash unfolded just before 2.45 pm. It has since reopened.
A spokesperson for Avon and Somerset Police said: ‘Our thoughts are with the man’s family, who have been notified and will receive support from a specially-trained officer.
‘We understand the motorway closure did cause disruption to motorists but are grateful for the public’s patience and understanding given the tragic nature of the circumstances.’
The motorway reopened later that evening around 6.15 pm.
Metro has contacted the South Western Ambulance Service for comment.
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