The bridge dates back to 1619 and was reputedly built by a former poor farm worker (Tom Ferris) who wanted to meet his love but could not due to the river being in flood.

Having become rich working at sea, then becoming the mayor of Kingston upon Hull, Ferris built the bridge at that point when flooding prevented him crossing it years before.

[15][16] The bridge was used as part of a packhorse route connecting Glaisdale with the high level road to Whitby (on the valley top to the north).

[5] In July 2023, some of the stones of the bridge were incised to a depth of 1.5 inches (38 mm) with an angle-grinder in what the North York Moors National Park Authority described as "a crude act of heritage crime.

[18][19][20] A short dramatised film based on the folk story of Ferris, Agnes and the bridge was released in 2010.