The government needs to address the 'widespread dissatisfaction' with lorry stops across the country, Logistics UK has said.
The Transport Focus Lorry Driver Facilities Survey found 63% of drivers and 78% of logistics and coach firms were dissatisfied with the number of available stopping places.
Logistics UK said it was 'extremely disappointing' that they are reporting dissatisfaction with the number and quality of stopping places.
The research reflects the official data showing over 20% of the 21,234 lorries parked overnight close to motorways and major A-roads are forced to use lay-bys or industrial estates because designated lorry parks are full.
Logistics UK Deputy Director Policy Michelle Gardner says: “Logistics drivers are the heroes of our sector, ensuring that goods arrive where they are needed, on time and in great condition with no fanfare.
“But even if lorry drivers are not parking up overnight, rest is essential and drivers need to take legally mandated breaks so need appropriate places to stop.
"And irrespective of the legal requirements over driver hours, drivers are also entitled to access clean, safe and hygienic facilities in the same way that office workers need and expect during their working days."
Logistics UK has been pressing government to address the shortage of lorry parking and driver facilities for many years.
It said it was vital there is a change in attitudes towards and increased recognition of the strategic importance of road freight to the UK economy.
The recent announcement of £12 million in joint government and industry funding that will create 430 new lorry parking spaces was welcomed by the body, but "funding alone won’t address the full range of causes behind this shortage".
Ms Garden says: "Our members are hopeful that the proposed reforms to the planning system will reflect our calls for a greater emphasis on facilities and we will continue to work with the government to ensure drivers have the facilities they need.
“We have also been urging government to ensure driver facilities are integral to any road investment schemes and the essential drivers in the logistics industry."