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The same reason cars don't get belly pans: serviceability.
Considering 2007+ trucks are quite unreliable, sometimes needing monthly service work to keep them running, not to mention the regular bi-annual inspections and random roadside inspections, the the added cost of belly pan RE & RE would be high. Not to mention impossible in most shops - HD truck shops generally do not have lifts for underneath access. I can tell you that a truck with a belly pan would not be allowed in my shop, and it's a dealership.
Also, heat rejection. EGR HD diesels (generally 2002+) require a ridiculous amount of airflow for heat rejection, and it all goes through the grill, rad and downwards - around the engine, maybe some under the cab, but mostly under the truck. A belly pan would not allow this without drastically changing something else.
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