The Innere Brücke is a monumental Medieval stone bridge with ten (or eleven) arches in Esslingen, Germany. This bridge spans from the Maille and the Neckar canals. Unfortunately, part of the outer bridge was demolished in the 1960s. Today, the bridge is part of the pedestrian zone.

Three 18th-century Baroque bridge houses still deck the bridge, along with modern shops that line the inner-city promenade.