The lorry driver, caught near junction 15, was given safety advice and told by traffic officers to take his break at a service station, a spokesman said.
A fortnight later officers found another HGV driver preparing a meal inside his cab near the Watford Gap.
Last year there were 12 fatal hard shoulder accidents in England.
These are accidents where at least one vehicle involved was entering or leaving the hard shoulder on a motorway.
The agency has launched a campaign to remind motorists that it is an extremely dangerous place to stop.
The two incidents occurred last month, the agency said.
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