The driver of the lorry, a 54-year-old man from Shropshire, failed a drink drive breath test at the side of the road.
After searching the cab of the lorry, officers also discovered cannabis, a baton and a knife.
The driver was arrested on suspicion of drink driving, possessing cannabis, possessing a bladed weapon, possessing an offensive weapon in public, assaulting a police officer and criminal damage.
He remains in police custody.
A North Yorkshire Police spokesman said: "It goes without saying how dangerous this is and the potential consequences of driving any vehicle while under the influence of alcohol or drugs, let alone a large truck capable of causing severe damage or worse."