The haul was discovered in the back of a refrigerated van when the vehicle was searched as it came off a ferry at Newhaven port, in East Sussex, in the early hours of Saturday morning.
Officers found 97 packages, each containing around 1kg of cocaine.
The National Crime Agency (NCA) said the drugs could have been sold for around £10m at street level.
Driver James Satterley, 50, from Cookham, in Maidenhead has been charged with importing Class A drugs.
He has been remanded in custody and is due to appear before Brighton Magistrates' Court on Monday.
NCA senior investigating officer Paul Morris said: “NCA officers are working alongside Border Force, Sussex Police, Thames Valley Police and the south east regional organised crime unit to investigate this seizure and the circumstances around it.
“Working with partners we are determined to do all we can to disrupt the organised crime groups involved in the large-scale importation of class A drugs, which fuel serious violence and impact some of the most vulnerable members of our society.
“Making seizures like this is an important part of that work.”