Firefighters were called to the A449 just after midnight today and stayed at the scene until about 7am.
The cause of the blaze was accidental, a spokesman for West Midlands Fire Service said.
The spokesman added: "We got a call at 12.13am to a HGV fire near the railway bridge and the junction with Herbert Road.
"We sent two fire appliances, had four hose reel jets, and four breathing apparatus were used.
"The HGV was carrying a mix of food stuffs which were all non hazardous.
"It was an accidental ignition and there were no injuries.
"The last crew came away at 7.15am."
Staffordshire Police Response tweeted overnight saying: "We are currently at the scene of a vehicle fire on the A449 Stafford Road, Stafford. (Junction Herbert Road) The road is closed. Please avoid the area."
Staffordshire Fire and Rescue Service later tweeted saying: "The HGV fire on the A449 Stafford Road, Stafford has been put out. However due to the clean up operation and recovery the road will remained closed until the morning."
Currently dealing with a fire in a trailer unit of mixed low hazard goods in Stafford. Two fire engines from Stafford and Penkridge using breathing apparatus and hose reel jets. Road is likely to be closed for some time so please avoid the Wolverhampton Rd nr the railway station pic.twitter.com/tZWNLafU4n— Staffordshire Fire and Rescue Service (@StaffsFire) August 3, 2019