Three fire engines and crews were called to the M61 motorway near Chorley after smoke was seen coming from the wheels of a tanker.
They used a water jet on the vehicle, which was carrying 'plastic particles' and pulled over onto the hard shoulder, at around 9.45am, a fire service spokesman said.
The small fire was thought to have involved either a tyre or brake, the spokesman added.
Traffic England said one lane was closed because of a 'broken down vehicle with a brake issue'.
Nobody was hurt, and traffic was not thought to be badly affected by the incident, which happened on the southbound carriageway.
The fire engines - two from Bamber Bridge and one from Chorley - were called out by the Highways Agency.