The Rainbow Bridge is a suspension bridge in Tokyo Bay, connecting Shibaura to the man-made island of Odaiba. Officially called the Tokyo Wan Renraku-kyo, the bridge can be crossed by car, the Yurikamome rubber-tired train or on foot, offering panoramic views of the inner Tokyo harbor from the north side and Tokyo Bay from the south side.
The walkways are open from 10:00 to 18:00 (November-March) and 9:00-21:00 (April-November). The walk is especially beautiful at dusk, even though the exhaust fumes and traffic noise kill part of the romantic atmosphere.
Crossing the bridge on foot is free and takes about 30 minutes if you stop to take some pictures.
Find out more about Rainbow Bridge.