In the scheme, a specially adapted HGV cab was used to film people acting dangerously behind the wheel.
Among the worst offenders was a lorry driver who was caught using two mobile phones on the M6 in Cheshire.
The man was filmed holding one phone to his ear while texting on the other device.
He was recorded on cameras in the HGV cab lent to police by Highways England before being pulled over by officers following behind.
Highways England said examples of irresponsible driving included a man in Surrey boiling water in a kettle on his dashboard and a motorist in Kent watching a DVD.
A driver in Hampshire was spotted reading a book, while a man in Surrey told officers he was using his mobile phone because he needed to call his new girlfriend after "their song" came on the radio.
Commenting on the scheme, the RAC said it should serve as a reminder of the “potentially horrific consequences” of using a handheld mobile phone behind the wheel.
“While this is clearly not a very visible type of enforcement, its true deterrent value is in the shocking things that motorists have been found doing at the wheel when they didn’t know they were being watched,” the motoring organisation’s Pete Williams said.
“More campaigns like this from police forces up and down the country would make more motorists think twice before breaking the law in this way.”
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Since the safety scheme began in April last year some 3,494 offences have been spotted, with nearly half relating to the unsafe use of mobile phones and over a fifth involving drivers not wearing seatbelts. Some 25 forces have taken part in the project.
Anthony Thorpe from Highways England's incident prevention team said: “The vast majority of drivers pay attention when they're on a motorway but a minority are putting themselves and others at risk by not driving safely.
“We've been loaning out the HGV cab to police forces to help improve safety and are delighted that the initiative is making a real difference and protecting motorists.
“It's astonishing and worrying that drivers have got into bad driving habits and are using their mobile phones, watching DVDs or even boiling a kettle while driving.”