The first trucks have been able to leave the border area and continue into Gaza, says Stéphane Dujarric, spokesperson for the UN Secretary-General António Guterres.
Earlier on Wednesday, he stated that very few trucks had not been able to leave the border area, as the road that Israel's military has given them permission to drive on is too risky.
In the evening, at least some of the trucks reached the UN's warehouse facilities in central Gaza, according to AP images.
The 90 trucks constitute the first emergency assistance to be brought into Gaza since Israel on Monday announced that it would permit a "minimal" amount to the civilian population, following an 11-week-long Israeli blockade of humanitarian aid.
The humanitarian situation in Gaza is becoming increasingly acute, and the supplies that Israel allows to be let in are far from sufficient to meet the enormous needs, according to the UN's Office for the Coordination of Humanitarian Affairs (Ocha).