Knowledge of the core structure and inherent dynamics of urban freight transport systems is important for the development of policies, aimed at improving the livability and sustainability of cities. The past decade has witnessed a great deal of efforts into analyzing the geographic structure of urban freight transport systems. However, in-depth studies on the system core structure and underlying dynamics are still absent. This study contributes to the field by analyzing large scale freight truck trip data from Chinese cities, using complex network analysis. We empirically reconstruct and characterize the urban freight truck mobility networks and reveal the underlying spatial interaction patterns. We develop a spatial network growth model which explains how hub-and-spoke core structure of urban freight transport systems are formed. The developed model captures the essential interaction dynamics of freight locations, and explains the effects of spatial distance, economic size and business pattern replication. Inspired by the model, we provide policy implications for land-use planning, transportation planning and sustainable urban development.