On the Swiss Canon support site, I found the driver source code for the PIXMA MG5400. Just scroll all the way down and hit "Akzeptieren & Herunderladen" (Accept and Download).
You'll receive a tar.gz archive containing the source code. Extract it and open a terminal in the directory
cnijfilter-source-3.80-1 where you extracted it.
Execute the command
chmod +x scripts/install_deb/install.sh, then execute
make install way doesn't work, as the Makefile is corrupted...
This might do it. However, I don't know how old this is and how well it is maintained.
EDIT: The other answer points to Canon Singapore, which provides a prepackaged version of the driver for Debian: http://support-sg.canon-asia.com/contents/SG/EN/0100467602.html?r=s&q=
Download, extract, and run the installer script.