A system for cleaning tires of a vehicle traveling along a longitudinal direction over the system includes modular tire cleaning units with debris removal elements. Each unit includes debris removal elements, such as a first chain assembly supported between supports and over a substrate and extending substantially transverse to the longitudinal direction, the first chain assembly defining a first tire track. A second chain assembly is supported between second sets of supports and over the substrate and extending substantially transverse to the longitudinal direction, the second chain assembly defining a second tire track parallel and spaced apart from the first tire channel. The system may include a second modular tire cleaning unit with longitudinally extending chains and/or a trough holding water and/or sprayers at the side of the system.