The Lucozade push for GlaxoSmithKline went on to PVC mesh panels that clip to the side of the trailers.
Agripa used Bedfordshire "huge-format" digital printer Macro Art, whose six 5m-wide printers can produce up to 14,000m2 of print per week.
Vutek kit for the job on Mesh Supreme by German firm Verseidag-Indutex included an eight-colour 5330.
The ads are equivalent to 96-sheet posters and will adorn lorry trailers across the UK for six months.
Roseanne Grant, sales and marketing director for Agripa, said the drug firm was the latest in a number of blue chips, including Tesco and B&Q to use the system.
Her firm said audience routes could be measured and mapped, demographic profiles analysed and coverage tracked.
Agripa in Lucozade campaign
Media firm Agripa has rolled out its Fleet Media service for a drinks campaign across 90 lorry trailers.