Two were empty cattle trucks and she said the odour was immense.
All the trucks were parked near signs stating the parking restrictions, and all stayed overnight.
But lakefront moteliers said providing drivers with accommodation was a valuable part of their business and helped keep other road users safe by allowing drivers to take a rest.
Taupō district mayor David Trewavas said he feels for both sides.
"It's a balancing act between commercialism and keeping the economy ticking over and keeping the residents happy and what we've tried to do is a bit of a compromise by putting some restrictions in there.
"In winter, it's not so bad because it's dark by 5pm or 6pm but with these beautiful nights and vistas it's still light [in the evenings].
He said moteliers needed to make a living, and provided a great service to truckies.
On the other hand, many of the residents had been there for years, paid "quite considerable rates" and didn't think it was fair to have trucks on the lakefront when parking was available just around the corner.
He said trucks had been parking in the old council building carpark at night, which meant they were out of the way but close to accommodation, but there was less space because of temporary fencing for a building demolition project.
The council also has designated truck parking in Kaimanawa St.
Trewavas said he had contacted many of the truck companies and most were happy to park off the lakefront once they were made aware of the issue.
"Most of them are very good and have got their drivers to park around the corner but some still take the proverbial and park there.
"If they're parking where a no parking zone is it's a compliance issue so we need to monitor it with our parking division."
Trewavas added that the council has not received any complaints about parking since the temporary restrictions were introduced.
Chris Younger, relief manager at Twin Peaks, has been running motels on the lakefront for 25 years, and said truckies provided a lot of business.
He said it was odd the lakefront areas where parking has been restricted are mostly in front of Twin Peaks and its adjacent restaurant Jolly Good Fellows, not people's homes.
"A lot of the carpark spaces they blocked out [restricted] are directly opposite us and we didn't grizzle about it.
"I don't know where the grizzle came from."
He said staff always told truckies they should park around the corner in Kaimanawa St or Rifle Range Rd.
"Most of the guys have been coming here for years and they know the rules."