The man climbed on top of the truck and waited for over 13 hours before being discovered.
The driver was able to alert passing trucks who alerted the police.
Queensland Police Service (QPS) and Queensland Ambulance Service (QAS) paramedics were first on the scene, followed by the Flood and Swiftwater Rescue team.
The Toowoomba based RACQ LifeFlight Rescue crew was sent to the scene at 12:20pm, after Swiftwater Rescuers determined they were unable to safely reach the man.
The crew landed on the roadside to consult with QPS, who notified them that the man was approximately 300 metres from Undulla Creek.
After taking off again, the RACQ LifeFlight Rescue crew was able to locate the man and his vehicle and winched a paramedic down to retrieve the patient.
The man was fitted with a rescue harness and winched back on board the hovering helicopter. He was then airlifted back to the road, where
Queensland Ambulance Service (QAS) paramedics treated him. He wasa then taken to Miles Hospital in a stable condition.
The dramatic rescue comes as an important reminder to Queensland drivers to avoid even attempting to drive through flood waters.
"This is an example of why if it is flooded, motorists should absolutely forget it," said RACQ spokesperson Renee Smith.
"This man is extremely lucky to alive.
"When a motorist enters flood waters he or she is putting not only their life at risk, but the lives of emergency service personnel.
"If there is water on the road, find an alternative route or wait until the route is clear."