The fire appeared to be in piping or a pump connected to an asphalt tanker in Perth Amboy just south of the bridge.
Firefighters foamed the tank to try to get the flames out.
Traffic was shut down in both directions for about a half-hour. A speed restriction of 35 m.p.h. was in place due to the smoke condition from the fire.
The bridge takes traffic between Staten Island and New Jersey.
Get Eyewitness News Delivered