The incident occurred on the North Loop westbound near Fulton Street on Friday afternoon.
SkyEye13 was above the scene where the trailer's load, which appeared to be metal pipes, was seen penetrating the back of the cab.
Images from the scene also showed broken glass on the side of the stopped 18-wheeler.
At least two lanes were closed, and traffic was snarled as the investigation into the incident was underway.
Officials did not immediately release information about the circumstances of the incident, including the driver's condition and whether any other vehicles were involved.