Emergency services were called to the Cleddau Bridge in the early hours of this morning (Monday).
Dyfed-Powys police alerted the coastguards to a despondent man on the bridge shortly before 3am.
St Govans and Tenby coastguards, Angle inshore lifeboat, the pilot boat, Hakin, and a fire boat were all tasked to the scene.
They stood-by near the bridge and awaited further instruction from the police.
The man was escorted from the bridge by police after about an hour.
A spokesman from Pembrokeshire County Council said that the bridge was closed from 2.45am until 3.40am. However, due to technical problems, the signs at Freemens Way and Honeyborough were still showing the bridge to be closed at 9am this morning.
The spokesman said that the council was aware of the problem and was working with contractors to fix it.
