An HGV driver was arrested on the M11 after a stowaway inside his lorry rang the police for help.
Cambridgeshire police said the driver was arrested on suspicion of assisting illegal entry into the UK but has since been interviewed and will face no further action.
The incident occurred on 20 March just after 12pm when the police received a call from one of four people in the back of the lorry.
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The HGV, believed to have come from Dover, was stopped just before junction 11 of the M11 near Trumpington.
Those rescued from inside were not injured and their welfare is now being handled by the immigration services.
The rescue follows two similar incidents last month, where a total of 21 people were rescued from lorries in the county.
Some had told officers over the phone that they were struggling to breathe.