The bridge closed in both directions at 8.30pm on Easter Monday and remained shut for around three hours due to a police incident.
A man was taken away from the bridge at around 11.30pm.
At least five police vehicles were parked around the bridge during the incident, with cars blocking the Fife and Dundee access roads.
A further police vehicle was parked near the middle of the crossing.
Lifeboats from Broughty Ferry were seen patrolling the water.
Traffic parked next to Slessor Gardens while drivers waited.
One onlooker said: “The police didn’t direct us in, but people just seem to have stopped this way.”
Pedestrians and cyclists also gathered by the Dundee entrance to the walkway.
A police spokesperson said there had been concern about the personal welfare of a man.
He said: “The person is now off the bridge and services have been stood down.”
A coastguard spokesman said: “We received a call at approximately 8.30pm. It is a police incident. We’ve got Broughty Ferry lifeboats and Carnoustie coastguard rescue team in attendance.”
