A lorry was a type of truck with a long trailer. They tended to be used to move many kinds of cargo.
In Pete's World, John Lumic used lorries to capture homeless people for conversion, and to move the Cybermen from the factory to desired locations. The trucks were owned by a dummy company used by Cybus Industries. (TV: Rise of the Cybermen)
In 2167, Jenny and Barbara Wright used a lorry which was on display in the Civic Transport Museum in an attempt to get to Bedfordshire. They escaped London just as the Daleks were firebombing the city, crashing through a group of Daleks along the way, but the lorry was destroyed by a Dalek flying saucer. (TV: The Dalek Invasion of Earth)