Slow moving lorries snaked along sections of the A12, M25 and M11, causing jams of up to two miles at some points, as part of their 160 mile journey which started at Harwich.
The protest was organised by John Tye, an owner driver from Little Oakley near Colchester.
Essex Police kept a close eye on the 28-strong convoy from the air support unit's helicopter. Traffic lights were kept green at the A12 and M25 intersection to keep the truckers together.
Essex Police assistant chief constable Geoff Markham, who oversaw the operation, said that the lorry drivers were all well behaved.
The drivers are threatening to go nationwide with protests starting on Monday unless road tax and diesel duty is cut.
Road block: Angry truck drivers brought parts of the A12 near Ingatestone to a standstill on Saturday when their 30mph convoy hit the county's roads in protest over road tax and diesel duty.
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