Sauter led the final 17 laps and held off Kyle Busch before a last-lap wreck forced the 250-mile race to finish under caution Friday night.
Sauter says, "I can't believe I'm in Victory Lane in Daytona."
Busch, a Sprint Cup regular who drives a few races in the Trucks Series, wound up second for the third time in the series opener.
It was the 100th win in the series for Toyota and the manufacturer's seventh straight at NASCAR's most famous track.
Ron Hornaday Jr. was third, followed by Justin Lofton, Jeb Burton and Ty Dillon.
Defending series champion James Buescher was involved in the last-lap wreck and finished 13th, one spot behind highly touted rookie Darrell Wallace Jr.