Hampshire firefighters rescued the couple in their 60s after the 7.5 tonne lorry cut off the staircase in their house.
Firefighters were called to Brockhurst Road, in Gosport, just before 6am.
Resident Anne Wiles is quoted by the BBC as saying: "My husband jumped out of bed - went on to the landing and there was a big gaping hole and the front of a lorry.