A dozen people were also injured in the incident on Drottninggatan (Queen Street), one of Stockholm‘s major pedestrian streets, on April 7.
Swedish PM Stefan Lofven said it was a terror attack.
One man has been arrested, after Swedish police released a CCTV image of a person who may be connected to the case.
In a speech, PM Stefan Lofven said Swedish values of democracy and freedom would not be “undermined by hatred”.
The prime minister also announced Sweden’s border controls had been strengthened.
The crash happened at the Ahlens department store just before 15:00 local time. Witnesses say the truck drove into the front window.
Swedish brewery Spendrups said its truck had been stolen on its way to a restaurant delivery earlier in the day.
“Someone jumped into the driver’s cabin and drove off with the vehicle while the driver was unloading,” a brewery spokesperson told the TT news agency.
The store sits close to Stockholm’s central station, which was evacuated.
The subway, central roads and various bus lines were also shut down after the attack.
Shots were reportedly fired in another part of the city, but Swedish police told local media there was no connection between the two incidents.
Stockholm authorities said they had made several spaces, including a number of school buildings, available as temporary accommodation for those who could not get home because of transport disruptions.
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