The man, who had been driving a car transporter, had collapsed at the wheel, West Yorkshire Police said.
The M62 was open again this morning. An update posted on Twitter by Highways England said last night: “#M62 (W) J24 - J22 and entry slips now being re-opened following clean-up and recovery work.”
Traffic had been stopped in both directions to allow an air ambulance to land.
The disruption caused major problems for commuters with traffic queued between junction 23, the A640 at Huddersfield, and junction 22, the A672 at Rishworth Moor.
The eastbound carriageway was later reopened but officials said the Manchester-bound route would remain closed during this evening’s rush hour while the police investigation continued.
There were long queues in both directions as drivers slowed down to see the incident.
Traffic had been diverted from J24 following via the A629 north towards Halifax, A646, A58 south via Sowerby Bridge and A672 to return to the M62 at J22.