Drivers asked to stay in cars as fire closes M5
Northbound lanes have reopened, but delays continue to impact drivers, Travel Somerset has said.
The truck was transporting "agricultural grade milk powder" for Mole Valley, the agricultural supplies company said.
A spokesperson for Mole Valley added: "It was likely a wheel or tyre failure that caused the fire.
"The driver called the emergency services immediately and the driver is safe."
Northbound traffic is currently being diverted from junction 23 via the A38 and A39 to rejoin the M5 at junction 22, with the southbound diversion using the same roads in reverse.
Trapped traffic will be released before the carriageways can be opened, and delays were expected to continue.