On Foot
It is possible to cross the Rainbow Bridge on foot. The walk across takes about 30-45 minutes and offers nice views of the waterfront area. The pedestrian path begins a short walk from Shibaura-futo Station along the Yurikamome on the "Tokyo side" of the bridge, while Odaiba Kaihinkoen Station is the nearest station on the "Odaiba side". Bicycles are not allowed.
Note that the pedestrian walkways gets closed during the night (21:00 to 9:00 from April to October, 18:00 to 10:00 from November to March), on the third Monday of every month, from December 29 to 31, during the Tokyo Bay Fireworks Display and during bad weather.