Kent Harris, 49, waived his right to a preliminary hearing in the case against him.
Court documents allege the trucker met up with King at a bar on Jan. 21.
According to the probable cause statement, King left the bar with Harris. She was later found by a passerby on I-29 near Pickett, badly injured.
Investigators say an autopsy revealed King died from head trauma, resulting in brain swelling consistent with a fall from a vehicle.
An investigator with the Missouri Highway Patrol stated in court documents that Harris confirmed by phone that he had been at the St. Joseph bar the night of King's death.
A global positioning system (GPS) was used to determine Harris' truck had been in the area where King's body was found about 20 minutes before she was discovered.
Harris is charged with the Class C felony of involuntary manslaughter in the first degree in Buchanan County.
Harris continues to be held at the Buchanan Co. Jail, with a $100,000 bond.
His next court date is scheduled for Thurs., March 15.