Rescuers search for survivors after the collapse of Nanfangao Bridge in Taiwan.
Interior Minister Hsu Kuo-yung claimed there had been five people on the bridge when it collapsed.
According to Taiwan's state-run Central News Agency, the truck fell onto a number of fishing boats and sparked a fire.
Divers were searching for those feared trapped in a couple of fishing boats, two government officials from the port township of Suao told Reuters.
The weather at the time of the collapse was sunny.
Authorities have set up an emergency centre and the military said marines and the navy were helping with the rescue efforts.
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One badly damaged boat was pulled out from under the structure on Tuesday afternoon, but two more remained stuck with the tide rising. So far, six have been identified as Filipino nationals and another three identified as being Indonesian.
The 140-metre (460-foot) long single-arch bridge came crashing down in Nanfangao, Taiwan.
As the outlet notes, fisherman from other countries typically work on boats registered in Taiwan because pay is better than in their home countries. At least 20 people were injured.
The center of Typhoon Mitag passed east of Taiwan on Monday night and early Tuesday, but the outer winds gusting up to 85 miles per hour affected the island before the storm moved to the northeast.
Taiwanese President Tsai Ing-wen promised that the government would investigate the incident and that all of Taiwan's bridges would be inspected.
According to the company that designed the 18-meter-high (nearly 60 feet) high bridge, MAA Consultants, it's the only single-span arch bridge in Taiwan supported by cables and the second single arch-cable steel bridge in the world.
Video of the collapse shows the oil tanker had almost made its way across the bridge when it caved in and collapsed straight down into the water.