The male car driver was taken to hospital with minor injuries after the crash which happened northbound near Junction 8 of the M6 at around 1.45pm.
Traffic was stopped on the M5 link road and northbound M6 for around 30 minutes while emergency services attended the scene.
All lanes were fully reopened at around 2.40pm but there were major tailbacks as a result of the incident.
On the M6 northbound traffic was queueing six miles back to Junction 6 Spaghetti Junction and traffic on the M5 northbound was congested back to Junction 1 for West Bromwich.
Drivers were advised to steer clear of the area with warnings of delays of up to 30 minutes.
Police, paramedics and firefighters were all sent to the scene.
A West Midlands Ambulance Service spokesman said: "We were called to reports of a collision between a lorry and a car between Junction 1 of the M5 and Junction 9 of the M6 at 1.39pm, one ambulance and a paramedic officer attended the scene.
"On arrival we discovered one patient, a man, who was the car driver.
"He was treated for a minor injury at the scene before being taken to Walsall Manor Hospital for further assessment."