Work should now begin early next year on the Princes Quay bridge, which will connect the city centre and Old Town to the Fruit Market and Marina. The bridge has been designed to allow further development around the waterfront as Hull City Council continues to regenerate the area around the marina.
Hull City Council planning committee chairman Sean Chaytor said: "We are delighted to have passed this impressive design through today's planning committee and we believe that this bridge is essential in working towards improving connectivity between two core areas of the city.
"We hope that the work to start the bridge construction can now get underway for early next year in order for it to be ready by Easter 2017."
Detailed negotiations over access to land, traffic management, working arrangements and location of site compounds will now take place.
The bridge is being delivered as an early phase of a major project by Highways England to upgrade the A63.
The one-mile scheme in Hull city centre aims to improve journey times with a proposed new junction at Mytongate and two new pedestrian bridges over the road, including the Princes Quay bridge.