Around 48 were injured in the incident which is being investigated as a possible terror attack.
The truck jumped the sidewalk about 8 pm wreaking havoc at the market, which is at Breitscheidplatz, close to the Kurfuerstendamm, the main shopping street in the city's west.
The police said they later arrested a man near the scene who was suspected of driving the truck, which had been stolen from a worksite in Poland about a two-hour drive from Berlin. A passenger, identified by the authorities as a Polish national, was found dead in the cab.
German Interior Minister Mr de Maiziere told ARD television: "I don't want to use the word 'attack' yet at the moment, although many things speak for it.
However, US President-elect Donald Trump blamed "Islamist terrorists" for a "slaughter" of Christians in the German capital.