Road transportation is a significant source of CO2 emissions and energy demand. Consequently, initiatives are being promoted to decrease the sector’s emissions and comply with the Paris agreement. This article synthesizes the available information about heavy-duty fuel cell trucks as their deployment needs to be considered a complementary solution to decreasing CO2 emissions alongside battery electric vehicles. A thorough evaluation of 95 relevant documents determines that the main research topics in the past ten years converge on public policies, hydrogen supply chain, environmental impact, drivetrain technology, fuel cell, and storage tank applications. The identified research gaps relate to expanding collaboration between institutions and governments in developing joint green macro policies focused on hydrogen heavy-duty trucks, scarce research about hydrogen production energy sources, low interest in documenting hydrogen pilot projects, and minimal involvement of logistic companies, which need to plan their diesel freight’s conversion as soon as possible.