The 11 animals – three camels and eight horses – were trapped in the vehicle when a smouldering fire started just after midnight, a spokesperson from the Stralsund police department said.
The driver of the circus transporter, who was coming from the Baltic Sea island of Rügen, was informed of the fire by other drivers after he pulled over for a break.
Officers were forced to break open the transporter tailboard to free the animals, which were not injured in the accident.
Fire fighters were then able to put out the blaze and the animals later continued their journey in a new transporter.
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