The “common-sense approach” follows a review of speed camera policy on motorways earlier this year and will be applied across the approximately 200 cameras sites on England’s motorways to bring them in line with cameras on local roads.

Transport Secretary Patrick McLoughlin said: “We are on the side of honest motorists. I’ve always been clear that cameras should be visible and get used for safety rather than revenue raising. This move is about applying common sense to our roads. Speed cameras should make journeys safer rather than lead to dangerous braking. I’m delighted Highways England have agreed to meet our timetable to achieve this.”

The majority of colour changes will take place during standard renewal of speed camera units alongside other planned work to minimise the cost. Units which are not due to be upgraded within this time frame will be made yellow.

Highways England will be monitoring its camera sites to address any impact the change in colour has for drivers.

The RAC greeted the move. Head of external affairs Pete Williams said: “Yellow speed cameras at the roadside are a familiar feature on the UK road network, both loved and loathed by motorists and road users in equal measure. But the proliferation of grey, unmarked motorway gantry cameras has led to confusion for many and accusations that they were there to catch out unsuspecting motorists and to raise revenue rather than improve road safety.

“Now with evermore sophisticated models like the inconspicuous HADECS3 verge-mounted motorway camera that covers three lanes, clear identification will ensure that the authorities maintain the trust of drivers and dispel any ‘money raising’ suspicions.

“For the sake of consistency and to avoid further confusion for drivers the Government needs to extend this guidance to apply to all speed cameras, wherever they encounter them on whatever roads – so including local authorities.”