Investigators said they suspected the men, who allegedly stole the truck in the town of Beit Dagan, ended up at the airport by mistake,Ynetnews.com reported.
They drove to the airport entrance about 3:30 a.m. local time and ran the vehicle through the main checkpoint, officials said.
A security guard fired four shots at the truck's wheels before it came to a stop near Terminal 3, the news website said. The men, from Jenin and Qalqilya, then ran on foot before being apprehended.
"We're very pleased with our performance because the truck passed the first [security] circle, which is fine, it happens, and was stopped at the second circle which is effective in preventing damage to the structure and to passengers," said Zohar Geffen, the airport's security director.
The incident caused delays and heavy traffic at the airport, Ynetnews.com said.