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Technically both you and the truck driver have failed to stop and report a damage only collision. He could use the excuse that he didn't know there had been contact or he could use the same excuse as you. He could have recorded your car details and have already made a report. So in a nut shell make a report within 24 hours of the incident in person at a police station. You might be able to do it online nowadays, I don't know because I am a dinosaur. A bastard velociraptor but a dino nonetheless.
I got a mild shunt by an articulated lorry this morning in the middle lane of near stationary traffic and now the dented rear of my car means the boot won't open. No chance to stop and raining heavily so I moved on.
Should I report this ?
I got the reg number because I discovered the plate was still stuck to the back of the car when I got the opportunity to stop off the motorway.