EU Competition Commissioner Margrethe Vestager said truck makers Daimler, DAF, Iveco, MAN and Volvo/Renault had hatched the plan 14 years ago in a "cosy" Brussels hotel.
"We are imposing the highest fine ever for a single cartel, but there are good reasons for this," Vestager told a press conference.
"In particular this cartel involves a very large market and continued for a very long time."
The investigation is based on raids carried out on large truck manufacturers in 2011, based on a tip-off by MAN.
This accusation is particularly embarrassing in the wake of revelations last year of pollution test cheating by Volkswagen that has rocked the auto industry. The commission said its investigation found no connection to the Volkswagen case.
Germany's Daimler received the biggest fine of 1 bn euros, followed by DAF of the Netherlands at just above 750 million euros.
MAN received full immunity, for its cooperation in the case.
The huge fine comes less than a week after Vestager filed new anti-trust charges against US Internet giant Google.
Coming down hard on the five European companies will also counter accusations by Washington that Vestager unfairly targets US firms.
At the onset, the cartel operated at the highest levels of management, with secret meetings held on the margins of trade shows, the commission said.
But since 2004, it shifted to emails and communications through the firms' German subsidiaries, it said.
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