The incident took place at 8.15pm yesterday.
A motorist who was driving behind the lorry said the driver initially moved the lorry to the side of the road, then simply drove off.
The walkway was damaged to the extent that its roof tilted down at a 20 degree angle.
Police officers who arrived on scene cordoned off the surrounding areas of the walkway in case the roof collapsed and injured pedestrians.
Police also managed to tracked down the lorry driver for investigations in the incident.
HDB engineers have checked the walkway and say the damage doesn’t impact the structural integrity of the surrounding HDB blocks.
The incident calls to question the 3-metre height limit, and whether covered walkways with higher height limits should be built.