The bridge got its name from the barracks of the Grenadier Regiment, which were built in 1803-1809 (the soldier corps was located on the embankment of the Karpovka River, the officer corps - on the Petrograd Embankment). The Life Guards Grenadier Regiment was formed in the XVIII century. The soldiers of this regiment were active participants in the Decembrist uprising in 1825.

The first floating crossing in the area of ​​today's Grenadier Bridge appeared in 1758. In 1806, the floating bridge was moved to the area of ​​today's Sampsonievsky Bridge, and a ferry was built in this place.

In 1904-1905, the first permanent bridge was built in the alignment of Maly Sampsonievsky Prospekt - a wooden bridge on pile foundations with a central double-wing drawbridge, manually raised. At that time, the bridge was named Grenadier.

In 1951, the Grenadersky Bridge was rebuilt, the drawbridge was made of metal.

In 1971-1975, the bridge was completely reconstructed and moved to its current location. To improve the transport situation, Grenaderskaya Street was laid, a tunnel on the Vyborgskaya Embankment and the Aptekarsky Bridge across the Karpovka were built simultaneously with the bridge's relocation.