Police are appealing for information after the three BMWs were stolen from an Immingham car-handling depot.
An operation involving the Humberside Police helicopter started after the cars were taken on 24 December.
Police said the cars were pursued along the M180 westbound and along the A15 towards Lincoln.
Three juveniles, two from Doncaster and one from Leeds, were arrested after the cars were found abandoned. They have been bailed, pending further inquiries.
Officers from South Yorkshire and Lincolnshire Police assisted the force with the pursuit.
The cars were stolen at about 1315 GMT on 24 December from the depot at Immingham docks.
The three cars have now been recovered and are awaiting forensic examination.
Anyone with information about the incident is asked to contact Humberside Police.