Yes, Rainbow Bridge has pedestrian walkways on both the north and south sides of the lower deck. The North Route offers views of Tokyo's inner harbor and cityscape, while the South Route provides views of Tokyo Bay and the ocean. Walking the entire 795-meter length takes approximately 20 to 30 minutes one way. However, the walkways have restricted operating hours and close in the evening, typically around sunset. Access is also closed during strong winds or bad weather for safety reasons.