The driver, believed to be aged in his 50s, had managed to free himself from the submerged cab and was sitting dazed on the crane.
"I just rolled him over on his back and swam back in with him," Manning said.
"We sat him on the bank for a bit and let him regain his composure ... by then the ambulances just started arriving. But you see someone in the river like that, you just swim in and grab them."
The driver was taken to Gold Coast University Hospital with hip pain and cuts to his head.
It is not known what caused the truck to crash off the edge of the bridge.
Attempts to float the crane and lift it out of the water at a nearby boat ramp might take a long time, a Queensland police spokesman said.
Oil leaking from the truck was quickly contained.
Northbound commuters experienced heavy delays during peak hour.
However, all lanes were reopened yesterday afternoon.
- AAP