Built in 1883 by Benton Jones, Cedar bridge was 76 feet long and was the last bridge open to vehicles. It was built over Cedar Creek north of Winterset on what is now U.S. Highway 169. It was moved to its present location over the same creek in 1921. In Robert James Waller's novel The Bridges of Madison County, Cedar Bridge is where Francesca Johnson goes to meet Robert Kincaid to help him take photographs. Cedar is also the bridge on the novel's cover. It was renovated in 1998 at a cost of $128,073.

Cedar was destroyed by an arsonist on Sept. 3, 2002. A replica of the original bridge was built from the original plans using authentic materials and methods. The new bridge was dedicated on October 9, 2004.