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The original bridge on this site was a toll bridge called Victoria Bridge, opened in 1857. It was made toll free in 1879 and renamed Chelsea Bridge in 1926.
The present bridge, a self anchored suspension bridge, was opened in 1937 and is 213 meres long, with a longest span of 101 metres. It is a Grade II listed structure. Link
Wikipedia: Link

Grosvenor Bridge (Victoria Railway Bridge), is a railway bridge over the River Thames, between Vauxhall Bridge and Chelsea Bridge. Originally constructed in 1860, and widened in 1865 and 1907, the bridge was extensively rebuilt and widened again in the 1960s. The engineer was Sir John Fowler.

The River Thames rises at Thames Head in Gloucestershire ST9899 on the slopes of the Cotswolds and flows generally eastward to its mouth near Southend in Essex. At 215 miles long it is the second longest river in Britain after the Severn, and the longest entirely within England. Link