In July 1856, there was a mere wooden foot-bridge where the Cavenagh Bridge now stands. In 1868, Cavenagh Bridge was built to commemorate the 50th Anniversary of the founding of the Crown Colony of the Straits Settlements held in 1869. It is named after Colonel Cavenagh, the last Governor of the Straits Settlements under the Government of British India, although originally Governor Ord had planned for it to be named "Edinburgh Bridge" because it was first used during the visit of the Duke of Edinburgh to Singapore. Governor Ord eventually relented when members of the Singapore Legislative Council decided that it should honour and perpetuate the name of the last Governor appointed by the British East India Company to Singapore. Cavenagh Bridge was the last major project undertaken by Indian convict labour in 1869.
Today, the Cavenagh Bridge serves as a foot-bridge for pedestrian traffic only.