Insufficient charging/fueling infrastructure poses a major challenge to achieving U.S. policy goals for transitioning the heavy-duty vehicle (HDV) sector to zero-emission vehicles. Addressing the infrastructure needs of HDV fleet operators, who are key demand-side stakeholders, is crucial for developing effective solutions and strategies. This study investigates these needs through a fleet survey of California’s drayage sector, focusing on battery electric trucks. Key aspects examined include preferences for charging locations, access types, charging duration, time-of-day for charging, and innovative solutions like Truck-as-a-Service. Analyzing responses from 53 companies with varying fleet sizes, annual revenues, and operational characteristics, the study employed a comprehensive exploratory approach, utilizing descriptive analysis, thematic analysis, and hypothesis testing. Findings reveal that while most fleets preferred on-site charging, about a quarter, primarily smaller fleets with five or fewer trucks, preferred both on-site and off-site options. Private access was often favored for on-site facilities, though some respondents recognized the benefits of shared access for expanding operational coverage. The study also identified a need for faster charging solutions at both off-site and on-site locations, particularly for long-haul or mixed operations. Time-of-day preferences varied widely, driven by the need for efficient operations. Furthermore, a small proportion of participating fleets preferred Truck-as-a-Service over traditional procurement, predominantly among smaller fleets or those with lower revenues. The comprehensive research findings contribute to a deeper understanding of charging infrastructure needs and offer practical insights for policy practitioners and industry stakeholders committed to advancing zero-emission infrastructure.