No-one was injured in the blaze that occurred at around 5.45pm yesterday (Wednesday, July 13).
Firefighters from Derbyshire Fire & Rescue and South Yorkshire fire services were in attendance at the fire, which is said to have started accidentally, between junctions 30 and 31 of the M1.
A spokesperson for DFRS said: "We sent fire engines from Staveley to a coach fire at Woodhall Services - no-one was hurt."
SYFR said: "Firefighters from Central and Brierley Moor fire stations attended at 5.45pm and came away at 7pm.
"The coach was carrying school children back from a trip to Alton Towers. It was started accidentally but we don't have anymore information than that."