The blaze broke out on the northbound M1 between Junction 34 for Meadowhall and 35 for Thorpe Hesley at around 7.45am today.
Firefighters extinguished the flames and left the scene an hour later.
Three lanes of the motorway were closed during the height of the blaze but all but one are now re-open.
Recovery arrangements have been made for the damaged coach.
There were no passengers on the coach and the driver escaped unharmed.