The truck, which was carrying a load of iron bars, smashed into and destroyed the Al-Mansoori cafe on Wednesday, The National newspaper reported.
It said that about 20 people were in the cafe at the time of the crash. The truck's Indian driver was among the injured.
Colonel Hamad Adil al-Shamsi, head of the traffic department of the Abu Dhabi police, said an initial investigation pointed to driver fatigue as the cause of the crash, the newspaper said.
The man had driven the truck for at least 500 kilometres (310 miles) from Qatar, through Saudi Arabia and then into the United Arab Emirates before the crash occurred, the paper added.
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