The Innere Brücke is the oldest of Esslingen's river crossings, a multi-arched stone bridge that has spanned the Neckar at this point since the Middle Ages. The bridge was widened and modified at several points in its history, but its basic structure remains medieval, and it still serves as a pedestrian crossing between the old town and the Neckar island of the Mühlkanal.
Standing on the bridge, you get one of the best views of Esslingen's skyline: the towers of the Stadtkirche and Frauenkirche rise above the terracotta rooftops, the Burg castle appears on the hill above, and the Neckar stretches away in both directions. It's one of those spots that tends to halt the pedestrian traffic as people stop to take photos.