The busy A34 was closed at Yarlet while three fire crews tackled the blaze.
Firefighters from Stafford, Stone and Penkridge were called to the incident at 10:54am.
Staffordshire Fire and Rescue Service confirmed that the fire started in the cab of the lorry and that four firefighters wearing breathing apparatus used two hose reel jets to tackle the blaze.
Pictures released by the fire service showed how nothing but the metal frame of the cab was left, while tyres drooped on the road and the front of the lorry was surrounded by debris.
The A34 was closed in both directions causing long delays for motorists.