The bridge was closed on Friday morning for repairs after the gate that closes the bridge to traffic on the town’s west side was crushed as the bridge was swinging open for harbour traffic
One of the fencing panels next to the gate on the fixed end of the bridge was also damaged.
The county council has now installed a new gate, made a temporary repair to the fencing panel and reopened the bridge early, with it originally due to reopen tomorrow morning.
The County Council and Scarborough Borough Council, which operates the bridge, have launched an investigation into the incident.
David Bowe, Corporate Director for Business and Environmental Services said: "We are looking into how the gate was damaged but we have quickly got on with replacing the gate and making necessary repairs to the fence.
“We are pleased to open the bridge today before peak travel times.”