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A rolling road block was set up after horses escaped onto one of the busiest stretches of carriageway in the county.
Police were called to the A2 London-bound between the M25 J2 for the Darenth Interchange and Dartford Heath.
The road was cleared shortly after 4pm, but traffic did not return to normal until around 7.15pm.
The delays were not helped by an accident between a lorry and a car on the M25 clockwise from J31 for West Thurrock to J1A for Swanscombe.
But, as the queues lengthened, road users took to Twitter to complain about cars and even a lorry using the hard shoulder to beat the delays.
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