The crash happened in the 1400 block of Holcomb Road around 11:45 Thursday night. The truck hit the family's SUV, parked in the front yard, before crashing into the home and overturning.
The truck missed a bed with a woman and her grandson by inches. The grandmother was hit by debris but was not seriously injured. The child's mother and two other siblings were not hurt.
"I was alseep and heard a bump, heard a boom. Mother was scared and crying. My baby and my mother was in that room and oh my God," said Erika Rubio.
The driver ran away from the scene, but officers found him after searching the neighborhood.
Paramedics transported him to Baylor University Medical Center. His condition has not been released.
Police are investigating whether alcohol was a factor.