PurposeThe purpose of this study is truck scheduling and assignment of trucks to the doors simultaneously since these issues were considered mainly separately in the previous research. Also, the door service time and its impact on truck scheduling were not taken into account, so this research endeavors to cover this gap.Design/methodology/approachIn this research, a novel model has been presented for simultaneous truck scheduling and assignment problem with time window constraints for the arrival and departure of trucks, mixed service mode dock doors and truck queuing. To resolve the developed model, two meta-heuristic algorithms, namely, genetic and imperialist competitive algorithms, are presented.FindingsThe computational results indicate that the proposed framework leads to increased total costs, although it has a more accurate planning; moreover, these indicate that the proposed algorithms have different performances based on the criteria considered for the comparison.Research limitations/implicationsThere are some limitations in this research, which can be considered by other researchers to expand the current study, among them the specifications of uncertainty about arrival times of inbound and outbound trucks, number of merchandises which has been loaded on inbound trucks are the main factors. If so, by considering this situation, a realistic scheme about planning of cross docking system would be acquired. Moreover, the capacity of temporary storage has been considered unlimited, so relaxing this limitation can prepare a real and suitable situation for further study. Examining the capacity in the front of each type of doors of cross-dock and executive servers are the other aspects, which could be expanded in the future.Originality/valueIn this study, a mathematical programing model proposed for truck scheduling to minimize total costs including holding, truck tardiness and waiting time for queue of trucks caused by the interference of each carrier’s movement. At the operational levels, this research considered a multi-door cross-docking problem with mixed service mode dock doors and time window constraints for arrival and departure time of trucks. Moreover, M/G/C queue system was developed for truck arrival and servicing of carriers to trucks.