The bridge, which was fabricated and installed by SH Structures, forms part of improvements to the A52 being undertaken by Galliford Try. The installation had been postponed because of the coronavirus pandemic.
The crane that carried out the lift was delivered to site on 12 lorries last week for assembly ahead of the installation, which took place over the weekend.
The 82m-long bridge will create a fully accessible link between residential and commercial areas for pedestrians and cyclists as well as people with wheelchairs, mobility scooters and pushchairs.
Derby City Council is aiming for the footbridge to be open to the public by late summer or early autumn this year.
Councillor Matthew Holmes, deputy leader and cabinet member for planning, regeneration and transportation, said: “Together with our partners, we have worked tirelessly over the past few weeks to find alternative ways of working to ensure social distancing for the workforce and I am delighted that we are able to press ahead with this key milestone at this current time.
“The new bridge will provide improved accessibility to and from the retail and business parks, enhancing walking and cycling facilities for all. We worked extremely hard to get the project back on track and since then the whole scheme has moved with significant pace and purpose. This will ensure the long-term benefits are delivered for the city, and I am particularly proud that this continues to be the case during such a difficult period of uncertainty.”