The A38 was closed for more than an hour as police negotiated with a man who had climbed into the rigging of the Tamar Bridge.
Officers shut the bridge before 10pm last night, causing traffic delays until it was open after 11.30pm.
Police advised motorists to avoid the area as traffic quickly built up.
A man had climbed high into the rigging of the bridge over the River Tamar and was refusing to come down.
Firefighters from Crownhill and Saltash were called by police at 9.45pm along with the special rescue crew from Camels Head.
After negotiations a decision was made to dispatch two firefighters from the specialist rescue team up the rigging to bring the man down.
Wearing specialist harnesses and using associated specialist equipment and supported by fire service personnel on the ground, the two firefighters climbed the metal rigging to a height of around 10 metres from bridge level where they made contact with the man and were able to secure him into a rescue harness.
Over a period of around 20 minutes, the man was carefully lowered using rescue lines.
Once successfully lowered onto the ground, the man was detached from the harness and rescue lines and handed over to onsite police and paramedics.
The incident was over at 11.44pm and the bridge was reopened.