It depends on how you’re traveling.
If you’re traveling in a private vehicle, you can use other documents to return to Canada.
If you’re traveling in a commercial vehicle, you need a valid permanent resident (PR) card to return to Canada. If your PR card expires when you’re travelling, renew your PR card before you leave. You can only renew your PR card when you’re in Canada. If you’re outside Canada and don’t have a valid PR card, you need a permanent resident travel document (PRTD) to return to Canada. You can only apply for a PRTD from outside Canada.