Police were called to the bridge at 7.30am on Friday to find two Extinction Rebellion activists hanging from the Bridge by suspension cords.
They unfurled a huge banner that reads 'end fossil fuels now'. The protesters also released red flares.
The group said: “The action has taken place at the gateway to the City of London - the root source of fossil fuel funding in the UK - and on the eve of the April Rebellion which begins tomorrow at 10am in Hyde Park.”
Amy Rugg-Easey, who is taking part in the demonstration, said: “I ask myself why I do these things all the time, and the main thing that drives me is that I have tremendous hope and optimism in humanity’s ability to fight the climate crisis - but there are certain people who continue to prevent that for their own profit.”
The action by Extinction Rebellion, which is calling for an end to all new fossil fuel infrastructure, comes after eight days of disruption at oil facilities by the group and the Just Stop Oil coalition.
A protester wearing a blue jacket, with orange and pink stripes near the top and a red scarf, was escorted to a police van by officers, after being taken down from the bridge at around 11am.
The green banner with black writing, which reads “End fossil fuels now” still hangs from Tower Bridge.
Tower Bridge was reopened after the last protester was removed by police. The activist, who had glasses and grey hair, was taken into a police van at 11.42am.