A truck driver independent contractor agreement is a document that legally binds a contractor and their client to a working arrangement. It outlines that the contractor will provide trucking services as specified, and will be paid as agreed.The new rule provides guidance on how six economic reality factors should be considered in making an IC vs employee determination. Signed Broker-Motor Carrier Agreement. 2. Completed Motor Carrier Information Form (attached). 3. If you need an independent truck driver contract template, then we've got you covered. Simply customize and download this free template today. Truck Driver Independent Contractor Agreement. Must have a vehicle (drivers must use their own vehicles). In a recent Illinois case, Yata v.