He issued the warning amid fears learners could misunderstand the change to mean motorways are subject to the same rules as other roads.
Under the new rules, holders of provisional driving licences may drive on the motorway when accompanied by an approved driving instructor in a dual-controlled vehicle.
Away from the motorways, learner drivers remain permitted to drive a car under the supervision of a person aged 21 or older who has held a full driving licence for three years or more.
“This is an important development, which will hopefully mean that learners are better prepared for motorways driving once they have passed their test,” said Jeremy .
“However, it is important that people are clear on the rules. Learners can only drive on the motorway in certain circumstances.
“This means they must be accompanied by an approved driving instructor in a dual controlled car. If either of these conditions is not met, both the learner and the person supervising them will be committing an offence.
“Learners should be mindful that they cannot be supervised by a friend or family member in a normally-equipped car as they could on other categories of road.”