Around 40 metres of central grillage steelwork was damaged in the incident when the lorry was blown from the northbound carriageway onto the southbound side of the bridge.
A 54-year-old man has since been charged with dangerous driving.
Transport Minister Humza Yousaf praised the amount of time it took engineers to repair and reopen the bridge.
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He said: "Once again, the Forth Road Bridge team has stepped up to repair the bridge. They have successfully removed the overturned HGV and carried out temporary repair work to the damaged central reserve safety grille on the bridge.
"I would like to pay tribute to the engineers and workers who have faced up to some very challenging and difficult weather conditions throughout the day, to complete the work and get the bridge reopened as quickly and as safely as possible."
Mark Arndt, Amey's Operating Company Representative for the Forth Road Bridge, added: "It's been a challenging day but our team has put in a tremendous amount of effort to get the HGV off the bridge and complete the repair work while battling with strong winds, rain and sleet.
"We're pleased that the bridge has now been reopened but we are mindful that with adverse weather forecast for the coming days, there may be further restrictions."
(LM/CD)
