An underride collision protection system for a truck. In one example, a rear bumper brace gusset is attached to a truck body and extends a rear bumper toward and connects it to the side edge of the truck. A front panel bracket is also attached to the truck body. A fabric side underride guard panel has a front end and a rear end. The front panel bracket and the rear bumper guard hold the fabric side underride guard panel into place at the front end and rear end respectively. A stretching mechanism pulls the side underride guard panel taut between the front end and the rear end. This abstract is not to be considered limiting, since other embodiments may deviate from the features described in this abstract.