The accident happened around 1:40 p.m. along the northbound lane of U.S. 301 Highway Bypass at Western Boulevard.
Authorities said 71-year-old David Warren Stone of Rocky Mount was originally reported missing after his tractor trailer overturned, and the truck's cab fell into the rain-swollen Stoney Creek.
Witnesses said a scooter or car may have cut off the 18-wheeler, causing the truck to run off the road.
Crews were finally able to pull the truck out of the creek around 10:30 p.m.
The cause of accident is still under investigation.
Meanwhile, one lane of northbound Wesleyan Boulevard over the Stoney Creek bridge remains closed until repairs can be completed.
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