The bridge had been closed northbound and a further lane closed southbound following the incident. The remaining lane was only open to cars.
Traffic was diverted via the Kincardine Bridge, causing "severe tailbacks" and congestion in the Stirling area.
Drivers heading to Fife had to travel via Perth onto the M90.
Strong winds had hampered the recovery operation on the Forth bridge, but emergency services managed to remove the lorry as wind speeds were forecast to increase.
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The bridge still remains closed to high-sided vehicles and motorcycles and is expected to do so until later on this evening.
A spokeswoman for Central Scotland Police warned motorists travelling during rush hour that there could be a build-up of traffic as drivers head to the Kincardine Bridge as an alternative.
She urged road users to leave plenty of time for their journeys and to take extra care in the hazardous conditions. The stormy weather has caused travel disruption across Scotland.
Restrictions were in place earlier on the Tay and Erskine bridges, and further north there were also warnings on the Skye and Kessock bridges.
Snow showers
In Dumfries and Galloway, fallen trees led to the closure of the A7 at Irvine House, Canonbie, and blocked a number of minor roads in the Annan area.
All Caledonian MacBrayne ferry sailings between Gourock and Dunoon have been cancelled due to industrial action by council staff, but the weather was expected to cause disruption to other services.
Travellers have been advised to check with individual companies before they start their journey.
Winds reached 80mph on the Tay Bridge on Thursday morning and 70mph gusts were forecast for the west coast and the Northern Isles.
Severe gales, storm-force northerly winds and snow showers were expected later, especially in north and west Scotland.
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