The first bridges were probably of felled trees lain across the river (Stockbridge and Trowbridge both refer to tree trunk bridges) and then of worked timber.

The Romans built bridges in wood, and probably stone, but none remain in Britain. The oldest surviving timber bridge is over the River Ouse at Selby and dates from 1790.

The first simple stone bridges - clapper bridges  comprise large slabs of stone rested on stone piers to span a stream or small river. Tarr Steps, which crosses the River Barle in Somerset, is the longest with 17 spans supporting stone slabs 5 feet wide. It is too narrow for carts but Pont Sarnddu in Carnarvonshire is ten feet across and wide enough for vehicles.

Packhorse bridges, small arched bridges, with very low parapets so as not to get in the way of the horse's panniers, can still be found  for example at Wycoller in Lancashire, Moulton in Suffolk, and Fifehead Neville, Dorset.

More sophisticated stone bridges were built abundantly in the 13th century, the use of timber continued into the 16th century. The river Skell at Fountains Abbey, Yorkshire, is crossed by probably the oldest arched bridge in England. Thirteenth to fourteenth century bridges can be recognised by their pointed arches and by the V-shaped extensions over the cutwaters for pedestrian refuges. These were superseded by bridges which were ribbed under the arches (14/15century), and those with semi-circular arches.

But all of these styles are modified by the needs and knowledge of the locality. In the early eighteenth century Daniel Defoe observed "...the Nyd, smaller then the Wharfe, but furiously rapid, and very dangerous to pass in many places, especially upon sudden rains. Notwithstanding, such lofty high built bridges are as not to be seen over such small rivers in any other place".

Masonry arch and cast iron bridges derive from the late 18th and 19th centuries. Bridges were usually made from local materials. In the eastern counties they were first built with timber and then brick. Mayton Bridge 8 miles north of Norwich has four centred brick arches.

Kilgram Bridge crosses the river Ure bearing a road which was an important communication route during Roman times. Catterick being a known major centre will have been an important regional focal point, while other sites close to the course of the route include a small camp at Roomer Common and a settlement of probable Iron Age origin close to Horsecourse Hill, Grewelthorpe.

A Roman paved ford has been found at Kilgram, well preserved thanks to it being protected by it's use as a foundation for the Norman bridge which was built directly over it. Due to this, it is one of the most well preserved Roman paved fords in Britain.

Kilgram Bridge itself is of known ancient construction, and is believed to date from the early 12th century - probably built around 1145 AD by the Cistercian Monks who founded Jervaulx Abbey nearby. Local myth tells how the bridge was built by the Devil after a pact made with the local population. Kilgram Bridge is first mentioned in literature in 1301. However, a modern assessment of the bridge suggests an early 12th century date to be correct.