Dave Duncan, of Otley, West Yorkshire, set up a crowdfunding campaign to help Lukasz Urban's relatives.
Mr Urban was found dead after his lorry was crashed into the Breitscheidplatz market in December, killing 12 people.
Mr Duncan said he felt compelled to help his "fellow trucker".
Attacker Anis Amri left at least 48 injured when he ploughed into crowds at the German market.
Mr Urban, a Polish national, had been stabbed and shot.
The driver had arrived in Berlin ahead of schedule to deliver steel beams and was asked to return the next day to unload his trailer.
Mr Duncan said: "If they had unloaded their freight none of this would have happened and Lukasz would have been able to go home and spend Christmas with his family."
He said it was that thought that made him want to do something to help "the innocent people left devastated by this".
"It could have been any one of us there that day," he added.
Since setting up the online fund, Mr Duncan has met Mr Urban's widow and son.
He said: "They were extremely grateful and shocked by the support, and that a stranger would help them this way when nobody else would."
Mr Urban's family invited Mr Duncan to attend the driver's funeral in Banie, near the Polish border with Germany.
He said it was "a beautiful ceremony in a beautiful place", adding: "Although I felt detached by the language barriers, it was very moving, especially the amount of people who came to pay their respects."
The Polish ambassador, Arkady Rzegocki, honoured Mr Duncan on Monday for his actions.
He said the lorry driver's "gesture and presence at the funeral of the late Mr Urban, have been greatly appreciated in Poland".
Mr Duncan added: "The Polish truckers' own tributes are what being a truck driver is all about.
"We have to watch out for one another, as in most cases nobody else does."
Mr Rzegocki said he wanted to "personally thank Mr Duncan for his selfless initiative".
"His compassion moved many both in the UK and back in Poland. It is an inspiring example of British-Polish solidarity which never fails in times of crisis," he added.
The ceremony took place in London at the Embassy of the Republic of Poland.

Police found a man, thought to have been cut with a knife, in Bracebridge Drive, Bilborough, at about 15:00 BST on Thursday.
A short time later the PCSO, who was involved in looking for the suspects, was attacked.
Two men were arrested and have been bailed pending further inquires.
The stab victim was taken to hospital but has since been released.

The UK voted to leave the European Union in a referendum on 23 June.
A spokesperson from CoDA confirmed that Citywing's proposed new service had become "commercially difficult" since the vote.
Discussions will now take place between the airport and other potential carriers.
The flight was originally announced by the Isle of Man-based regional carrier Citywing in March 2015.
It was due to begin its new service in October but was delayed on numerous occasions.
The proposed new route was to be part funded by the Governments Regional Air Connectivity Fund.
Citywing has not yet issued the BBC with a statement, but a spokesperson from CoDA confirmed the loss on Friday.
"The impact of the referendum vote in favour of Brexit has led to significant devaluation in the pound sterling, given that the airline industry operates in Euro and Dollars, the economics of the route deteriorated to a position which has made the operation of this route commercially difficult."
The spokesperson added that while this was "clearly disappointing news for the Airport and for the passengers", it remained optimistic in future efforts to secure the route.
In August, Ryanair announced it would be reducing its service to London Stansted.
A trucker who raised nearly £200,000 for relatives of the driver killed in the Berlin Christmas market attack has been thanked by the Polish ambassador at a ceremony in London.
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