The accident happened at a Shogun Japanese Grill adjacent to the old Palladium theater in the 7300 block of SH-99 near Richmond around 9 a.m.
The 18-wheeler was traveling southbound on the Grand Parkway when it veered across the median, onto the feeder road and then into the restaurant. The truck hit two vehicles in the process.
According to the Fort Bend County Sheriff's Office, the tractor-trailer was carrying liquid nitrogen but there is no hazmat threat.
The crash also damaged the adjoining nail salon where Alysia Autry was working when she heard the boom.
"I was just on the counter, typing an email talking to a customer, and the whole wall behind me collapsed," said Autry. "I honestly didn't know what was going on, I thought the whole building was collapsing so I ran out."
Investigators say the driver suffered a medical ailment and was slumped over the wheel of the truck. The driver was taken to a hospital where he was pronounced dead.
Three other people suffered minor injuries in the crash.
Miraculously, nobody was inside the restaurant at the time of the crash.
Report a typo to the ABC13 staff