The incident closed the eastbound entry sliproad at Junction 5 for Telford Central at about 6.20am.
Three fire crews were sent from Telford Central, Tweedale and Wellington.
The fire involved electrics in the rear of the cab and firefighters used one hose reel jet to extinguish it.
The sliproad was reopened shortly after 9am.
Recovery on scene #M54 J5 #Telford eastbound entry, lane 1 remains closed following a lorry fire. @HighwaysWMIDS on scene assisting, if using the slip road please drive carefully as work continues. Safe travels this morning. pic.twitter.com/WqjqDpobZU— Highways England (@HighwaysWMIDS) December 9, 2017
Lane 2 has re-opened #M54 J5 #Telford eastbound entry following a lorry fire, @HighwaysWMIDS are on scene. Lane 1 remains closed to allow recovery to take place so please approach with care. Many thanks to @shropsfire for putting the fire out. pic.twitter.com/PIojVeLYEC— Highways England (@HighwaysWMIDS) December 9, 2017