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<!-- DFIN New ActiveDisclosure (SM) XBRL Schema Document - http://www.dfinsolutions.com/ -->
<!-- Creation Date :2022-11-03T15:35:53.5049+00:00 -->
<!-- Copyright (c) 2022 Donnelly Financial Solutions, Inc. All Rights Reserved. -->
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  <xsd:element id="hubg_NumberOfDrivers" name="NumberOfDrivers" type="xbrli:integerItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="hubg_NumberOfEmployeesFiledLawsuit" name="NumberOfEmployeesFiledLawsuit" type="xbrli:integerItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="hubg_NumberOfIndependentOwnersForContractForServices" name="NumberOfIndependentOwnersForContractForServices" type="xbrli:integerItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false"/>
  <xsd:element id="hubg_NumberOfNetworkCarriers" name="NumberOfNetworkCarriers" type="xbrli:integerItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false"/>
  <xsd:element id="hubg_NumberOfTractor" name="NumberOfTractor" type="xbrli:integerItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="hubg_NumberOfTrailer" name="NumberOfTrailer" type="xbrli:integerItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="hubg_PurchaseOfTreasuryStockFromRelatedParty" name="PurchaseOfTreasuryStockFromRelatedParty" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="hubg_PurchaseOfTreasuryStockFromRelatedPartyInShares" name="PurchaseOfTreasuryStockFromRelatedPartyInShares" type="xbrli:sharesItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="false"/>
  <xsd:element id="hubg_PurchasePriceInExcessOfPredecessorBasisNetOfTax" name="PurchasePriceInExcessOfPredecessorBasisNetOfTax" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="debit"/>
  <xsd:element id="hubg_PurchasePriceInExcessOfPredecessorBasisTaxBenefit" name="PurchasePriceInExcessOfPredecessorBasisTaxBenefit" type="xbrli:monetaryItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false" xbrli:balance="credit"/>
  <xsd:element id="hubg_WarehousingSpace" name="WarehousingSpace" type="xbrli:integerItemType" substitutionGroup="xbrli:item" xbrli:periodType="instant" nillable="true" abstract="false"/>
  <xsd:element id="hubg_FairValueMeasurementLineItems" name="FairValueMeasurementLineItems" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_OtherIntangibleAssetsLineItems" name="OtherIntangibleAssetsLineItems" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_RevenueFromContractsWithCustomersLineItems" name="RevenueFromContractsWithCustomersLineItems" type="xbrli:stringItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_AccruedOtherMember" name="AccruedOtherMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_AgentRelationshipsMember" name="AgentRelationshipsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_BankRevolvingLineOfCreditMember" name="BankRevolvingLineOfCreditMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_CarrierNetworkMember" name="CarrierNetworkMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_CaseStackIncorporationMember" name="CaseStackIncorporationMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_ChoptankTransportLlcMember" name="ChoptankTransportLlcMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_CreditAgreementMember" name="CreditAgreementMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_DevelopedTechnologyMember" name="DevelopedTechnologyMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_DPYEntitiesMember" name="DPYEntitiesMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNoteDueTwoThousandTwentyFiveMember" name="EquipmentNoteDueTwoThousandTwentyFiveMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNoteDueTwoThousandTwentySevenMember" name="EquipmentNoteDueTwoThousandTwentySevenMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNoteDueTwoThousandTwentySixMember" name="EquipmentNoteDueTwoThousandTwentySixMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNotesCommencingOnTwoThousandFifteenMember" name="EquipmentNotesCommencingOnTwoThousandFifteenMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNotesCommencingOnTwoThousandFourteenMember" name="EquipmentNotesCommencingOnTwoThousandFourteenMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNotesCommencingOnTwoThousandNineteenMember" name="EquipmentNotesCommencingOnTwoThousandNineteenMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNotesCommencingOnTwoThousandSeventeenMember" name="EquipmentNotesCommencingOnTwoThousandSeventeenMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNotesCommencingOnTwoThousandSixteenMember" name="EquipmentNotesCommencingOnTwoThousandSixteenMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNotesCommencingOnTwoThousandTwentyMember" name="EquipmentNotesCommencingOnTwoThousandTwentyMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNotesCommencingOnTwoThousandTwentyOneMember" name="EquipmentNotesCommencingOnTwoThousandTwentyOneMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNotesDueTwoThousandTwentyFourMember" name="EquipmentNotesDueTwoThousandTwentyFourMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNotesDueTwoThousandTwentyThreeMember" name="EquipmentNotesDueTwoThousandTwentyThreeMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_EquipmentNotesDueTwoThousandTwentyTwoMember" name="EquipmentNotesDueTwoThousandTwentyTwoMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_FixedRateBorrowingsMember" name="FixedRateBorrowingsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_IntermodalAndTransportationSolutionsMember" name="IntermodalAndTransportationSolutionsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_LogisticsMember" name="LogisticsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_MAYEntitiesMember" name="MAYEntitiesMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_NonstopDeliveryLLCMember" name="NonstopDeliveryLLCMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_PurchasePriceInExcessOfPredecessorBasisNetOfTaxMember" name="PurchasePriceInExcessOfPredecessorBasisNetOfTaxMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_RoblesAndAdameLawsuitsMember" name="RoblesAndAdameLawsuitsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_RoblesLawsuitsMember" name="RoblesLawsuitsMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_TaggLogisticsAcquisitionMember" name="TaggLogisticsAcquisitionMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_TruckBrokerageMember" name="TruckBrokerageMember" type="dtr-types:domainItemType" substitutionGroup="xbrli:item" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_FairValueMeasurementTable" name="FairValueMeasurementTable" type="xbrli:stringItemType" substitutionGroup="xbrldt:hypercubeItem" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_RevenueFromContractsWithCustomersTable" name="RevenueFromContractsWithCustomersTable" type="xbrli:stringItemType" substitutionGroup="xbrldt:hypercubeItem" xbrli:periodType="duration" nillable="true" abstract="true"/>
  <xsd:element id="hubg_ScheduleOfOtherIntangibleAssetsTable" name="ScheduleOfOtherIntangibleAssetsTable" type="xbrli:stringItemType" substitutionGroup="xbrldt:hypercubeItem" xbrli:periodType="duration" nillable="true" abstract="true"/>
</xsd:schema>
