The route originally went through a ford affected by changing water levels and a large boulder brought downstream, leading to many riders abandoning the route.
Field staff diverted a short section of the bridleway to connect to a nearby footbridge and over two weeks, field staff widened the bridge to accommodate walkers, horses and cyclists. Signs have been put in place to guide users along the new route.
The work is part of a Missing Links Project which is re-establishing routes in the North York Moors that have been missing on the ground for many years for a variety of reasons.
By working with North Yorkshire County Council, the park’s authority has secured funding through the Department for Transport Local Sustainable Transport Fund. The project is part of the wider scheme to boost sustainable tourism in Whitby and the Esk Valley.
Bill Tait from Ride Yorkshire said: "I'm sure the tricky river crossing was putting many people off what is a lovely ride with some fantastic views. The new bridge is wonderful and, coupled with the other bridleway work, has made a vast difference to riding around Goathland.
"The Missing Links Project will make the Esk Valley much more accessible for horse riders which is very much welcomed."