Police officers were chasing the horse last night (Tuesday), on the M606 motorway, which runs between Bradford and Cleckheaton.
In a tweet, Motorway Martin, who patrols the M62 motorway and writes about his experiences, said officers eventually manage to guide the horse down a slip road.
He was reunited with his owner after "an exhausting shift", he added on Twitter.
Police were assisted by officers from Highways England.