The Hird Bridge was transformed by Robertson Land & Building in a project funded by Historic Scotland, Heritage Lottery Fund and Dundee City Council.
Convener of Dundee City Council's leisure, art and communities committee, Richard McCready led a walk across the bridge accompanied by a lone piper to mark the occasion.
Cllr McCready said: "The Hird Bridge has for a long time been a landmark that is well used by the people of Dundee enjoying a walk in Balgay Park.
"The repairs have been far more than just cosmetic, and will go a long way to ensuring that it stands for another 130 years."
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Linda Fabiani MSP, Minister for Europe, External Affairs and Culture, said: "I wish to congratulate everyone involved in the refurbishment project which allows us to celebrate the re-opening of the bridge.
"The bridge is a historical feature which is enjoyed and used by the local community. Thanks to the project that will continue in the future."
Work on the bridge was approved in 2006, after council staff put together a funding bid to repair corroded ironwork, concrete, masonry, parapet preservation, improve drainage and strengthen corroded beams before the structure was repainted.
The bridge is named after the member of the City Council’s engineering department who designed it in 1872.
It was erected in 1879 and spans 24 metres across a natural gorge. It is 13 metres from the bottom of the parapet to the roadway beneath and its ironwork is decorated with the town arms and floral finials.
To prevent casualties, the original rail, which was just over a metre high, was almost doubled in height in 1904 by the addition of ornate wire fencing.
After the ribbon cutting ceremony and procession across the bridge, guests were taken to the Mills Observatory to view an exhibition of information and photographs on the redevelopment of the bridge along with drawings from a competition by primary school pupils.
The exhibition will be in place in the observatory for two weeks.
(GK/JM)
