Built in the Gothic period, its construction date is uncertain. It was part of the city's defensive system, along with the Alcántara Bridge, located on its eastern side. Built entirely of granite ashlars, it consists of five slightly pointed arches, the central one being notable for its size, with a span of forty meters and a height of more than twenty-six meters above river level. It has two crenellated, irregularly polygonal defensive towers, one at each end. At its base, the bridge's large pillars are protected by angular breakwaters that cut off the water flow.
The bridge was used as a tollgate, collecting various taxes—common in the Middle Ages to finance public works—paid for the passage of various goods and transhumant livestock, linking the city with the Montes de Toledo region and Extremadura. Furthermore, the bridge served the muleteers who transported granite from the nearby town of Ventas con Peña Aguilera, marble from San Pablo de los Montes, charcoal, and other local products.
During the reign of Charles II, at the end of the 17th century, the bridge was partially renovated, widening its entrances and modifying the inner tower. The gate was topped with a large imperial coat of arms flanked by the figures of two seated kings and stone plaques detailing the characteristics of the project and its completion date, 1690. The outer tower retained its ribbed vaults and pointed and horseshoe arches.
A century later, in 1760, and under Charles III, the bridge was paved, as recorded on a carved stone plaque located on the right parapet. It was declared a National Artistic Monument in 1921, and was open to vehicle traffic until 1976, when it was only permitted for pedestrian use.