One most important and critical problem in a cross-docking system is truck scheduling. Many studies in it assumed that the temporary storage is unlimited which is in the real world, the temporary storage is limited. Many studies focus on minimizing total completion time. Meanwhile, studies that focus on minimizing temporary storage are hard to find, although this aspect is very important. Due to its complexity, especially in the cross-docking system with multiproduct characteristics, manual scheduling is almost impossible to achieve its goals. Many studies used several techniques, such as genetic algorithm (GA) and mixed integer programming where these methods are computationally expensive. Based on this problem, in this work, we propose new truck scheduling model in a cross-docking terminal with limited temporary storage constraint. This model is developed by using multi-agent system. The main contribution of this work is proposing the multi-agentbased truck scheduling model with limited temporary storage capacity constraint and temporary truck changeover permit. In it, there are three agents: inbound-trucks scheduler agent, outbound-trucks scheduler agent, and material handler agent. The shortest remaining time (SRT) algorithm is adopted in every agent. Based on the simulation result, this proposed model is proven competitive compared with the existing FIFO based models and integer-programming based model. Compared with the integer-programming model, it creates 41.8 percent lower in maximum inventory level. Compared with the FIFO based model, it creates 52.1 to 55.1 percent lower in maximum inventory level. In total time aspect, it creates 0.2 to 2.2 percent lower than the FIFO based model. It creates 7.2 percent higher in total time compared with the integer-programming based model.