An inclined type swing step attached to a truck includes a step bracket mounted on a lower region of a cabin providing a driver's seat, a step for a foothold, and a step swing device composed of a hinge shaft spring and/or a press shaft spring, positioning the step inside a virtual approach angle line formed with respect to a ground from a front side of a wheel through one-side inclination in a state where the step is spaced apart from the step bracket, and generating spring elasticity acting to make the step return to an initial position after downward movement of the step. The inclined type swing step can hold shaking of the step due to driver's stepping, improve vehicle accessibility through prevention of an interference by the step, and absorb an external object impact exceeding an approach angle.