The blaze took place on the M6 southbound between Junction 3A, near Chelmsley Wood, Solihull, and Junction 3, Nuneaton at about 4am.
Two lanes of the carriageway were closed by Highways England while a recovery operation took place.
A Highways spokesman warned motorists to expect 30 to 45 minute delays at the peak of the congestion.
All the lanes reopened after 10am when congestion started to ease, the spokesman added.
The burnt-out wreck of the HGV was seen smoking on the hard shoulder.
A recovery operation was taking place this morning. Parts of the road surface have also been damaged by the blaze.