A temporary repair to the damaged Vernon Road footbridge has allowed traffic to use the road once more.
The bridge closed on Tuesday after a member of the public noticed part of its support had come loose.
Scarborough Borough Council is now confident that the damaged section of footbridge no longer presents a risk to traffic or pedestrians using the road below.
However, the footbridge itself will remain closed to pedestrians until a full and permanent repair can be carried out.
Inspections of the footbridge have revealed no traces of corrosion or failure of the structure due to age.
It is thought the most likely cause of damage is impact from a high-sided vehicle or similar travelling on the road below.
Scarborough Council engineers will now concentrate on developing a work plan, with timescales, to permanently re-join the supporting arch to the footbridge.
Chris Bourne, Scarborough Council projects manager said: “Working with North Yorkshire County Council, we have worked swiftly to bring about a temporary solution that has allowed us to re-open Vernon Road today.
"We thank everyone for their understanding of the need for the closure and for their patience during the last two days.”