South Yorkshire Police said the pair, aged 17 and 18, were spotted at 3.30am on Friday at Junction 34, for Meadowhall.
Posting on Twitter, a force spokesperson said: “We were called to reports of pedestrians on the motorway.
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“When we arrived, having stopped all traffic, we found two young males laid on the central reservation ‘stargazing’.
“Both removed, poor attitudes challenged and issued with tickets.”