I am a Texas resident but worked for a company in Missouri. Do I need to file a Missouri Income Taxes?

No, you don't have to file a Missouri return.  Truck drivers that operate in two or more states will fall under the jurisdiction of the Amtrak Reauthorization Act (Public Law 101-322) and will be taxed only by their state of residency.  Here's the actual text of the law:

"No part of the compensation paid by a motor carrier providing transportation subject to the jurisdiction of the Commission under subchapter II of chapter 105 of this title or by a motor private carrier to an employee who performs regularly assigned duties in 2 or more States as such an employee with respect to a motor vehicle shall be subject to the income tax laws of any State or subdivision of that State, other than the State or subdivision thereof of the employee's residence."

322.pdf (house.gov)

Since Texas has no income tax, you have no state income tax obligation for your W-2 income.