Some drivers - brought over from poorer countries by lorry firms based in Eastern Europe - say their salary is less than three pounds an hour.
They say they cannot afford to live in the countries where they work. One said he felt "like a prisoner" in his cab.
Ikea said it was "saddened by the testimonies" of the drivers.
The drivers the BBC spoke to were employed by haulage companies based in Eastern Europe, which are paid to transport Ikea goods.
Romanian driver Emilian spends up to four months at a time sleeping, eating and washing in his truck.
He moves goods for Ikea around Western Europe, and had been in Denmark most recently.
He says the salary he takes home is a monthly average of 477 euros (£420).
A Danish driver can expect to take home an average of 2,200 euros (£1,900) a month in salary.
EU rules state that a driver posted temporarily away from home should be ''guaranteed'' the host nation's ''minimum rates of pay'' and conditions. But companies can exploit loopholes in the law.
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