The Lesser Town Bridge Tower was built in the second half of the 15th century under the rule of King George of Podebrady. The model for its construction was undoubtedly the Old Town Bridge Tower, constructed earlier on the opposite side of Charles Bridge.
Connected to the Lesser Town Bridge Tower by a walkway is a smaller tower, Judith's Tower, the only remaining part of the original Prague bridge, the Romanesque Judith's Bridge, which was destroyed by floods in 1342.