Suffolk Police and specialist road officers attended the scene and drivers were warned to expect delays as recovery of the vehicle was arranged.
Eyewitness Roxy Louise Sier said the lorry was hanging “precariously” over the edge and that all emergency services were in attendance.
She added that she saw firefighters rescue the driver through a window.
Norfolk and Suffolk Roads and Armed Policing Team tweeted an update showing the TM brothers lorry being recovered.
It said: “Slowly but surely we’re finally making some ground getting the flipped HGV recovered. Traffic still moving but some minor diversions in place.”