A spokesman for Peel Regional Police says the truck hit the plane three times, and five people - the pilot, co-pilot and three passengers - were treated for minor injuries.
Four of the people impacted by the accident have already been released.
Const. Iryna Yashnyk said the man driving the fuel truck was not injured and faces a charge of risky driving.
Passengers and crew were evacuated from the aircraft and moved to the terminal, while airport emergency services responded to the collision.
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Toronto Pearson is the busiest airport in Canada and features five runways.
"At 1:36a.m.an Air Canada Jazz aircraft came into contact with a Menzies fuel truck while taxiing on the apron", Toronto Pearson tweeted.
The aircraft and vehicle were removed and there was no operational impact on the airport.
The Transportation Safety Board said Friday it has sent a team of investigators to Pearson to probe the incident.
The extent of damage to the plane wasn't immediately clear.