Both lanes were closed westbound between junction two for Wolverhampton and junction three for Albrighton, following the smash.
West Midlands Ambulance Service was called to the scene at 8.13am, as well as a number of traffic officers.
It caused five-mile hold-ups and delays of up to 30 minutes but both lanes were reopened by 9.15am.
When crews arrived, all occupants were out of their vehicles.
One patient was taken to Telford's Princess Royal Hospital for treatment to their injuries.
Highways England tweeted: "All lanes open #M54 between J2 #Wolverhampton and J3 #TongVillage. Please driver carefully due to congestion following the incident."