The officials added that French authorities are simply not doing enough to safeguard the British truckers.
Home Secretary Theresa May and her French ministerial counterpart Bernard Cazeneuve have agreed to increase the joint intervention fund to improve security around the port.
RHA chief executive Richard Burnett, who recently visited Calais, said: “I think it’s a desperate situation for truck drivers.
“Put yourself in their situation – you are on your own trying to get through and you’ve got 20 migrants around your truck trying to get on, and you’re on your own trying to get them off.
“They are intimidating, some of them have metal bars, knives and, in one incident, a gun was pointed at a trucker.”
He added: “Somebody is going to get killed. I think things are beginning to boil over.”
“We have experienced quite a bit of theft and damage to customers’ products. You’re looking at not only the damage to equipment but also claims from customers as well.”
He added: “The fundamental problem is that there is no sign of any active policing to stop this happening in Calais. There is no security from the army, police or whoever to protect what is the gateway to trade.”
Mr Cook added: “I don’t believe that in 2015 we should accept mobs just stopping trade moving from one place to another. I think there is a duty of care.”
The French ferry strike caused a 30-mile queue and a £1 billion lose to Britain’s economy
It feared that this number could rise to over 5,000 as more and more migrants make the perilous journey over the Mediterranean sea.
Volunteers at the migrant camp Jungle II say 50 new migrants are arriving every day at the camp, and there are not enough tents, blankets or food.
The migrants are desperate to smuggle their way into Britain in the back of lorries.
Mr Burnett said Britain is seen as “too attractive a place” for migrants to come to.
A Home Office spokesman said: “Law and order in and around Calais is the responsibility of the French authorities, but the UK continues to work with its French counterparts to strengthen the security of the border to stop illegal immigrants entering the UK.
“Alongside this resolute action we are also tackling the roots of this problem by increasing joint intelligence work with the French to target the organised crime gangs.”