Well, if the truck was fully depreciated, then it had a cost basis of $0.00. Therefore, whatever the amount the insurance company paid you (the proceeds) would be a capital gain, and taxable.
If you are Married, filing jointly, and your income is $0 to $80,000 - your long term capital gains tax rate is 0%.
If you are Married, filing jointly, and your income is $80,001 to $496,000 - your long term capital gains tax rate is 15%.
If you are Married, filing jointly, and your income is $496,001 or more your long term capital gains tax rate is 20%.
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