The suspected illegal immigrants, who presented themselves as Iranian and Iraqi nationals, were found by on the A41 on the Staffordshire/Shropshire border on Sunday morning.
A Home Office spokesman said the children have since been put in the care of social services and that all the cases will be dealt with in line with immigration rules.
Around eight police cars and vans were at the scene between Tong Norton and Weston Heath after West Mercia Police were called at around 11.25am.
Local officers then alerted Immigration Enforcement at around 1pm.
The ages of the nine people found inside the lorry are not yet known.
Although they confirmed the men and children had claimed to be Iranian and Iraqi, a Home Office spokesman refused to provide a quote due to it being the pre-election period.
A West Mercia Police spokeswoman, said: "Officers were called to a concern for safety at junction of A41 & A5 area in Shifnal on Sunday 1 December at just before 11.25am.
"Nine people were found in the back of a lorry and no injuries were reported.
"The Border Force is now leading on this investigation."