By rights and NEC (National Electrical Code) any outdoor recepticle must be protected by GFI - whether it is the outlet type as most people are familiar with or in the breaker itself (electrical panel).
Now, if have no such protection (old house, barn or what have you) and you're asking if you'll still be safe using an extension cord to plug into outdoors... the absolute answer is you're risking it. Chances are nothing will ever happen. This is also why there is a ground included in the heating element, in case of internal shorts (i. e. no fires either). Worse case scenerio is the cord become frayed somehow and while plugged in only the "hot" wire makes contact with any metal part of the truck. While nothing will happen to the truck, the whole truck will be at 120v charge with respect to the ground you will be standing on. If you happen to touch your truck in that situation and it's raining or you are kneeling on the ground to unplug the heater, etc. you will become the path the electric will flow through and trust me you woun't like it. Depending on the route through your body anything from a shock to death could occur without GFI protection.
In the real world you're probably fine but just how hard is it to replace that outlet with a GFI one? 10 minutes tops and maybe $10? Better safe than sorry.