The motorway was closed between junctions 35a, at Stocksbridge, and 36, at Tankersley, following the fatal collision shortly before midnight yesterday.
The road remained closed for about 17 hours, before reopening fully at around 5pm.
Diversions were put in place and motorists were advised to expect disruption and allow extra time for their journeys.
The closure caused heavy traffic on surrounding roads, which is affecting football fans heading to games, and drivers have been advised to use the M18 or A1(M) instead if possible.
A photo taken early this morning showed the eerie scene on the usually busy stretch of the M1.