Emergency services were sent to the scene of the collision on the eastbound carriageway of the motorway between junctions 4 for Shifnal and junction 3 for Albrighton, which occurred just after 8am.
One witness seeing eight vehicles involved, including a black Ford Transit with a "smashed front" and a white VW Golf facing the wrong way.
National Highways reported the road was blocked shortly after 8.35am, before later closing the carriageway while the vehicles were recovered.
By 9.25am traffic heading towards Wolverhampton was passing the scene again when one lane was reopened.
Shropshire Fire and Rescue Service sent a number of crews to the crash along with ambulance and police.
A spokeswoman for West Midlands Ambulance Service said crews were called just after 8.10am.
"Three ambulances, two paramedic officers and the Air Ambulance Critical Care Car from Cosford were sent to the scene where, on arrival, crews discovered two patients, a man and a woman, that required assessment," she said. "They were treated for minor injuries by ambulance staff but did not require hospital treatment and so were discharged at the scene."
Firefighters from Wellington posted on social media urging motorists to avoid the area while the vehicles were removed.
As its peak, the AA Roadwatch website said there were delays of 68 minutes and increasing, although by 9.25am National Highways were reporting delays of 30 minutes on the approach to the crash scene.
After one lane was reopened, police urged people to avoid the area if possible.
"RTC on M54 between Telford and Cosford. Down to one lane with long delays. Please avoid for next hour," Telford police said on Twitter.
Both lanes were confirmed as open again shortly after 10.15am.