The Princes Quay footbridge cost £12 million and will provide a pedestrian link between the city centre and Hull Marina.
The Agency said work is ongoing to complete the marina platform and landscaping before the bridge opens in late summer.
It is hoped the crossing will help bring more footfall to areas such as Humber Street and the Fruit Market, which were severed from the rest of the Old Town when the A63 was built 40 years ago.
The area round the Marina has been enjoying a regeneration boom, with new housing built behind Blanket Row.
Construction is well underway on Arco’s headquarters on Blackfriargate as well as a further extension to C4DI tech hub.
The move will bring 550 staff from their current headquarters on Waverley Street and two other offices into the new “urban village.”
Work started last month on the £355 million A63 Castle Street upgrade, which includes creating a new junction by lowering the level of the A63 at the Mytongate junction.