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Ulshaw Bridge is a good example of a late medieval bridge with few substantial alterations which retains a wide range of constructional features. It is Grade II-listed (List Entry: 1130927 Link ) and a scheduled monument (List Entry: 1021078 Link ).

There has been a crossing point over the River Ure at Ulshaw since at least Roman times as it is thought to be where a Roman road from Swaledale, met the river. Later, in the medieval period, Ulshaw was a main crossing point over the Ure lying close to both the important military and political stronghold of Middleham Castle to the west and Jervaulx Abbey to the east. From the surviving architecture, the present bridge is thought to date to the 16th century. The bridge parapets were replaced probably in the late 19th century.