Fire crews battled the blaze between J22 and J21 on the M62 yesterday as the carriageway was closed.
The fire caused significant delays for commuters between Leeds and Manchester.
Crews warned divers to avoid the area while the lorry fire was dealt with.
Samuel Firth Duckett - who provided the footage to the Yorkshire Evening Post - was travelling during his holiday when he spotted the smoke from four miles away.
He described the smoke as 'heavy cloud cover' but it soon became apparent to Samuel that the incident was more serious.
He told the Yorkshire Evening Post: "We were travelling on holiday.
"From four miles away we could see the smoke.
"At first it seemed like heavy cloud cover but it soon became apparent it was more serious.
"Thick black smoke was billowing out.
"All the traffic came to a stand still.
"I walked to near the scene where I took the video and photos.
"We were stationary for three hours, people were in good spirits and taking it all in their stride."
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