Rubble and huge concrete structures from the pedestrian bridge which collapsed on the N3 between the Geldenhuys and Gilloolys interchanges on Tuesday were cleared overnight and the busy freeway was reopened early Wednesday morning.
The decommissioned bridge collapsed onto vehicles below, injuring five people, in the early hours of Wednesday.
Authorities had warned the freeway could be closed for up to two days, however, engineers worked all night and managed to clear the road in just one day.
Transport Minister Joe Maswanganyi is scheduled to inspect the site on Thursday morning.
The South African National Road Agency is investigating the cause of the bridge collapse.