<?xml version="1.0" encoding="UTF-8"?>

<!--XBRL Document Created with the Workiva Platform-->
<!--Copyright 2026 Workiva-->
<!--r:019d1b2e-1a42-7e5b-be0e-5049d4c74157,g:b1d3f2f6-ce37-497d-bf15-acf59b812579-->
<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" xmlns:link="http://www.xbrl.org/2003/linkbase" xmlns:fwrd="http://www.forwardair.com/20260331" xmlns:xbrli="http://www.xbrl.org/2003/instance" xmlns:dtr-types="http://www.xbrl.org/dtr/type/2024-01-31" attributeFormDefault="unqualified" elementFormDefault="qualified" targetNamespace="http://www.forwardair.com/20260331">
  <xs:import namespace="http://fasb.org/srt/2025" schemaLocation="https://xbrl.fasb.org/srt/2025/elts/srt-2025.xsd"/>
  <xs:import namespace="http://fasb.org/us-gaap/2025" schemaLocation="https://xbrl.fasb.org/us-gaap/2025/elts/us-gaap-2025.xsd"/>
  <xs:import namespace="http://www.xbrl.org/2003/instance" schemaLocation="http://www.xbrl.org/2003/xbrl-instance-2003-12-31.xsd"/>
  <xs:import namespace="http://www.xbrl.org/2003/linkbase" schemaLocation="http://www.xbrl.org/2003/xbrl-linkbase-2003-12-31.xsd"/>
  <xs:import namespace="http://www.xbrl.org/dtr/type/2024-01-31" schemaLocation="https://www.xbrl.org/dtr/type/2024-01-31/types.xsd"/>
  <xs:import namespace="http://xbrl.sec.gov/dei/2025" schemaLocation="https://xbrl.sec.gov/dei/2025/dei-2025.xsd"/>
  <xs:import namespace="http://xbrl.sec.gov/ecd/2025" schemaLocation="https://xbrl.sec.gov/ecd/2025/ecd-2025.xsd"/>
  <xs:annotation>
    <xs:appinfo>
      <link:linkbaseRef xmlns:xlink="http://www.w3.org/1999/xlink" xlink:arcrole="http://www.w3.org/1999/xlink/properties/linkbase" xlink:href="fwrd-20260331_pre.xml" xlink:role="http://www.xbrl.org/2003/role/presentationLinkbaseRef" xlink:type="simple"/>
      <link:linkbaseRef xmlns:xlink="http://www.w3.org/1999/xlink" xlink:arcrole="http://www.w3.org/1999/xlink/properties/linkbase" xlink:href="fwrd-20260331_def.xml" xlink:role="http://www.xbrl.org/2003/role/definitionLinkbaseRef" xlink:type="simple"/>
      <link:linkbaseRef xmlns:xlink="http://www.w3.org/1999/xlink" xlink:arcrole="http://www.w3.org/1999/xlink/properties/linkbase" xlink:href="fwrd-20260331_lab.xml" xlink:role="http://www.xbrl.org/2003/role/labelLinkbaseRef" xlink:type="simple"/>
      <link:linkbaseRef xmlns:xlink="http://www.w3.org/1999/xlink" xlink:arcrole="http://www.w3.org/1999/xlink/properties/linkbase" xlink:href="fwrd-20260331_cal.xml" xlink:role="http://www.xbrl.org/2003/role/calculationLinkbaseRef" xlink:type="simple"/>
      <link:roleType id="CoverPage" roleURI="http://www.forwardair.com/role/CoverPage">
        <link:definition>0000001 - Document - Cover Page</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="CondensedConsolidatedBalanceSheets" roleURI="http://www.forwardair.com/role/CondensedConsolidatedBalanceSheets">
        <link:definition>9952151 - Statement - Condensed Consolidated Balance Sheets</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="CondensedConsolidatedBalanceSheetsParenthetical" roleURI="http://www.forwardair.com/role/CondensedConsolidatedBalanceSheetsParenthetical">
        <link:definition>9952152 - Statement - Condensed Consolidated Balance Sheets (Parenthetical)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="CondensedConsolidatedStatementsofOperationsandComprehensiveLoss" roleURI="http://www.forwardair.com/role/CondensedConsolidatedStatementsofOperationsandComprehensiveLoss">
        <link:definition>9952153 - Statement - Condensed Consolidated Statements of Operations and Comprehensive Loss</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="CondensedConsolidatedStatementsofCashFlows" roleURI="http://www.forwardair.com/role/CondensedConsolidatedStatementsofCashFlows">
        <link:definition>9952154 - Statement - Condensed Consolidated Statements of Cash Flows</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="CondensedConsolidatedStatementsofShareholdersEquity" roleURI="http://www.forwardair.com/role/CondensedConsolidatedStatementsofShareholdersEquity">
        <link:definition>9952155 - Statement - Condensed Consolidated Statements of Shareholders' Equity</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="BasisofPresentation" roleURI="http://www.forwardair.com/role/BasisofPresentation">
        <link:definition>9952156 - Disclosure - Basis of Presentation</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="Indebtedness" roleURI="http://www.forwardair.com/role/Indebtedness">
        <link:definition>9952157 - Disclosure - Indebtedness</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="NetLossPerShare" roleURI="http://www.forwardair.com/role/NetLossPerShare">
        <link:definition>9952158 - Disclosure - Net Loss Per Share</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="IncomeTaxes" roleURI="http://www.forwardair.com/role/IncomeTaxes">
        <link:definition>9952159 - Disclosure - Income Taxes</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="FairValueofFinancialInstruments" roleURI="http://www.forwardair.com/role/FairValueofFinancialInstruments">
        <link:definition>9952160 - Disclosure - Fair Value of Financial Instruments</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="CommitmentsandContingencies" roleURI="http://www.forwardair.com/role/CommitmentsandContingencies">
        <link:definition>9952161 - Disclosure - Commitments and Contingencies</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="SegmentReporting" roleURI="http://www.forwardair.com/role/SegmentReporting">
        <link:definition>9952162 - Disclosure - Segment Reporting</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="NoncontrollingInterest" roleURI="http://www.forwardair.com/role/NoncontrollingInterest">
        <link:definition>9952163 - Disclosure - Noncontrolling Interest</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="BasisofPresentationPolicies" roleURI="http://www.forwardair.com/role/BasisofPresentationPolicies">
        <link:definition>9955511 - Disclosure - Basis of Presentation (Policies)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="IndebtednessTables" roleURI="http://www.forwardair.com/role/IndebtednessTables">
        <link:definition>9955512 - Disclosure - Indebtedness (Tables)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="NetLossPerShareTables" roleURI="http://www.forwardair.com/role/NetLossPerShareTables">
        <link:definition>9955513 - Disclosure - Net Loss Per Share (Tables)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="FairValueofFinancialInstrumentsTables" roleURI="http://www.forwardair.com/role/FairValueofFinancialInstrumentsTables">
        <link:definition>9955514 - Disclosure - Fair Value of Financial Instruments (Tables)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="SegmentReportingTables" roleURI="http://www.forwardair.com/role/SegmentReportingTables">
        <link:definition>9955515 - Disclosure - Segment Reporting (Tables)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="NoncontrollingInterestTables" roleURI="http://www.forwardair.com/role/NoncontrollingInterestTables">
        <link:definition>9955516 - Disclosure - Noncontrolling Interest (Tables)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="IndebtednessLongtermDebtInstrumentsDetails" roleURI="http://www.forwardair.com/role/IndebtednessLongtermDebtInstrumentsDetails">
        <link:definition>9955517 - Disclosure - Indebtedness - Long-term Debt Instruments (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="IndebtednessNarrativeDetails" roleURI="http://www.forwardair.com/role/IndebtednessNarrativeDetails">
        <link:definition>9955518 - Disclosure - Indebtedness - Narrative (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="NetLossPerShareBasicandDilutedNetIncomePerShareDetails" roleURI="http://www.forwardair.com/role/NetLossPerShareBasicandDilutedNetIncomePerShareDetails">
        <link:definition>9955519 - Disclosure - Net Loss Per Share - Basic and Diluted Net Income Per Share (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="NetLossPerShareAntiDilutiveSharesDetails" roleURI="http://www.forwardair.com/role/NetLossPerShareAntiDilutiveSharesDetails">
        <link:definition>9955520 - Disclosure - Net Loss Per Share - Anti-Dilutive Shares (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="IncomeTaxesDetails" roleURI="http://www.forwardair.com/role/IncomeTaxesDetails">
        <link:definition>9955521 - Disclosure - Income Taxes (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="FairValueofFinancialInstrumentsAssetsandLiabilitiesMeasuredatFairValueonaRecurringBasisDetails" roleURI="http://www.forwardair.com/role/FairValueofFinancialInstrumentsAssetsandLiabilitiesMeasuredatFairValueonaRecurringBasisDetails">
        <link:definition>9955522 - Disclosure - Fair Value of Financial Instruments - Assets and Liabilities Measured at Fair Value on a Recurring Basis (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="FairValueofFinancialInstrumentsNarrativeDetails" roleURI="http://www.forwardair.com/role/FairValueofFinancialInstrumentsNarrativeDetails">
        <link:definition>9955523 - Disclosure - Fair Value of Financial Instruments - Narrative (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="CommitmentsandContingenciesDetails" roleURI="http://www.forwardair.com/role/CommitmentsandContingenciesDetails">
        <link:definition>9955524 - Disclosure - Commitments and Contingencies (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="SegmentReportingNarrativeDetails" roleURI="http://www.forwardair.com/role/SegmentReportingNarrativeDetails">
        <link:definition>9955525 - Disclosure - Segment Reporting - Narrative (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="SegmentReportingSegmentInformationDetails" roleURI="http://www.forwardair.com/role/SegmentReportingSegmentInformationDetails">
        <link:definition>9955526 - Disclosure - Segment Reporting - Segment Information (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="NoncontrollingInterestNarrativeDetails" roleURI="http://www.forwardair.com/role/NoncontrollingInterestNarrativeDetails">
        <link:definition>9955527 - Disclosure - Noncontrolling Interest - Narrative (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
      <link:roleType id="NoncontrollingInterestIssuanceandExchangeActivityDetails" roleURI="http://www.forwardair.com/role/NoncontrollingInterestIssuanceandExchangeActivityDetails">
        <link:definition>9955528 - Disclosure - Noncontrolling Interest - Issuance and Exchange Activity (Details)</link:definition>
        <link:usedOn>link:presentationLink</link:usedOn>
        <link:usedOn>link:calculationLink</link:usedOn>
        <link:usedOn>link:definitionLink</link:usedOn>
      </link:roleType>
    </xs:appinfo>
  </xs:annotation>
  <xs:element id="fwrd_LiabilitiesUnderTaxReceivableAgreementNoncurrent" abstract="false" name="LiabilitiesUnderTaxReceivableAgreementNoncurrent" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="fwrd_RepaymentsOfFinanceLeaseObligations" abstract="false" name="RepaymentsOfFinanceLeaseObligations" nillable="true" xbrli:periodType="duration" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="fwrd_PreferredClassCMember" abstract="true" name="PreferredClassCMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_SeriesBConversionMember" abstract="true" name="SeriesBConversionMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_LongTermDebtExcludingCurrentMaturitiesIncludingDebtIssuanceCosts" abstract="false" name="LongTermDebtExcludingCurrentMaturitiesIncludingDebtIssuanceCosts" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="fwrd_NonvestedSharesandDeferredStockUnitsMember" abstract="true" name="NonvestedSharesandDeferredStockUnitsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_LiabilitiesUnderTaxReceivableAgreement" abstract="false" name="LiabilitiesUnderTaxReceivableAgreement" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="fwrd_AdditionalTaxReceivableAgreementLiability" abstract="false" name="AdditionalTaxReceivableAgreementLiability" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="fwrd_IncreaseInLiabilitiesUnderTaxReceivableAgreement" abstract="false" name="IncreaseInLiabilitiesUnderTaxReceivableAgreement" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="fwrd_TaxReceivableAgreementContingentConsiderationRangeOfOutcomesMinimumAmount" abstract="false" name="TaxReceivableAgreementContingentConsiderationRangeOfOutcomesMinimumAmount" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="fwrd_TaxReceivableAgreementContingentConsiderationRangeOfOutcomesMaximumAmount" abstract="false" name="TaxReceivableAgreementContingentConsiderationRangeOfOutcomesMaximumAmount" nillable="true" xbrli:periodType="instant" xbrli:balance="credit" substitutionGroup="xbrli:item" type="xbrli:monetaryItemType"/>
  <xs:element id="fwrd_ShareholderComplaintMember" abstract="true" name="ShareholderComplaintMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_NumberOfReportableSegmentsNotDisclosedFlag" abstract="false" name="NumberOfReportableSegmentsNotDisclosedFlag" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="xbrli:stringItemType"/>
  <xs:element id="fwrd_OperatingSegmentsExcludingIntersegmentEliminationMember" abstract="true" name="OperatingSegmentsExcludingIntersegmentEliminationMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_ExpeditedFreightSegmentMember" abstract="true" name="ExpeditedFreightSegmentMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_OmniLogisticsSegmentMember" abstract="true" name="OmniLogisticsSegmentMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_IntermodalSegmentMember" abstract="true" name="IntermodalSegmentMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_GroundMember" abstract="true" name="GroundMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_ContractLogisticsMember" abstract="true" name="ContractLogisticsMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_AirAndOceanMember" abstract="true" name="AirAndOceanMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_IntermodalMember" abstract="true" name="IntermodalMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_NetworkMember" abstract="true" name="NetworkMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_TruckloadMember" abstract="true" name="TruckloadMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_ClueOpcoLLCMember" abstract="true" name="ClueOpcoLLCMember" nillable="true" xbrli:periodType="duration" substitutionGroup="xbrli:item" type="dtr-types:domainItemType"/>
  <xs:element id="fwrd_PartnersCapitalAccountUnitsConvertedPercentOfOutstanding" abstract="false" name="PartnersCapitalAccountUnitsConvertedPercentOfOutstanding" nillable="true" xbrli:periodType="instant" substitutionGroup="xbrli:item" type="dtr-types:percentItemType"/>
</xs:schema>
