Staffordshire Fire and Rescue Service were called to the M6 between junction 14 at Stafford and junction 15 at Stoke-on-Trent at around 3pm on Saturday.
A lorry carrying canned fruit had overturned and burst into flames.
Highways England had warned the cans which were "popping" due to the heat had the potential to hit passing vehicles.
A digger was brought in to remove the cans, as firefighters continued to put out the flames.
The motorway was originally only closed northbound, before both directions were closed. Both directions were eventually reopened by 7.55pm.
A Staffordshire Fire and Rescue Service spokesman said on Saturday afternoon: "Crews from Stafford, Eccleshall, Newcastle and water carrier from Cannock are in attendance at a lorry fire on the M6 north 14 to 15 with Highways England West Midlands.
"The motorway is currently closed in both directions for some considerable time. Use alternative routes."
They later added on Twitter at 6.45pm: "We are still in attendance at M6 north junctions 14 to 15. Digger now in use emptying lorry contents onto road for full extinguishment and disposal. Motorway remains closed for safety reasons."
A Highways England spokesman said: "The motorway is being closed M6 northbound J14 Stafford North to J15 Stoke-on-Trent due to a collision and vehicle fire – please use alternative routes – emergency services on route.
"Staffordshire Fire and Rescue continue to work at the scene to extinguish the fire. We are unable to open any lanes at this time due to the vehicle that has caught fire carrying canned fruit which is popping due to the heat and has the potential to hit any passing vehicles."