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Commuters were climbing out of a window of an Orange Line train at MBTA’s State Street Station after overheated motors on a another train caused a “heavy smoke condition” on Tuesday night, a Boston Fire official said.

“Further investigation revealed that there was a piece of sheet metal on the tracks that was run over by the train and contributed to the damaged motor,” the fire official said at the scene.

Regarding the passengers who climbed out of at least one window, he added, “there are some people who may have panicked or responded differently.” All people inside the trains and the station were evacuated.

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The MBTA tweeted just before 11 p.m. that regular service has resumed with minor residual delays.

There were no injuries, and a shuttle replaced service between North and Back Bay Stations on the northbound line, according to an alert posted on the MBTA’s website.

State Street was also temporarily closed, but was back open just before 11 p.m., the MBTA said.

“While there was never any risk to passengers, they certainly had reason to be concerned,” MBTA spokesman Joe Pesaturo said. “There will be a full investigation into all aspects, including the cause of incident and the manner in which it was handled.”

The first train became disabled at about 8:40 p.m. was “removed from service without incident,” Pesaturo said.

The second train, which had 250 people on board, became disabled about 10 minutes later, leading to the chaotic situation where passengers began kicking open at least one window to escape the car, officials said. That train was at the station for just over 90 minutes, according to Pesaturo.

The Fire Department cleared the scene just before 10 p.m., he added.

“There wasn’t any fire,” Boston Fire Department spokesman Steve MacDonald said. “Just some equipment underneath the train was causing marking underneath the tracks and it created some smoke.”

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Lauren Fox can be reached at lauren.fox@globe.com. Follow her on Twitter @laurenbfox.