A search for sterile neutrinos was performed by looking for muon neutrino disappearance using the MINOS/MINOS+ detectors. The two detectors are at baselines of 1.04$\,$km and 735$\,$km from the neutrino production target of the NuMI neutrino beam at Fermilab. The data exposure consists of 10.56$\times10^{20}\,$protons-on-target from a beam configuration with a neutrino energy distribution peaked at 3$\,$GeV and a further 5.8$\times10^{20}\,$protons-on-target in a higher energy configuration with a beam peak energy of 7$\,$GeV. A simultaneous analysis of the $\nu_\mu$ charged-current and neutral-current neutrino energy spectra in the two detectors, using a 3+1 sterile neutrino model, yields no evidence of sterile neutrino mixing. A world-leading limit on the sterile mixing angle $\sin^2\theta_{24}$ is set for many values of the sterile neutrino mass-splitting $\Delta m^2_{41} > 10^{-4}\,$eV$^2$.