Fifty-nine-year-old James Sharp faces two counts of negligent operation of a vehicle. Sharp told investigators that when he reached for a pack of cigarettes, there were no cars ahead of him.
Sharp's truck crashed into the victims' car, which was stopped in traffic on the beltline last month.
Fifty-one-year-old Peggy Hanson and four-year-old Lilyana Thomas were killed.
Court documents say a crash reconstruction expert estimates Sharp had at least 26 seconds to react.
Sharp has been released on $10,000 cash bond.