On 20 March 1584/5, Queen Elizabeth issued a commission to Robert Tempest and seven other esquires of the counties of York and Westmorland to "enquire about the late fall of Rawthey Bridge, and to take measures for the rebuilding of the same." On 13 April following, Richard Dudley wrote that he could not meet the commissioners on the 26th instant for he had a horse to run that day in the race at Langwathby. The matter rested for a year. Then the Earl of Huntingdon wrote again to Robert Tempest, on 5 May 1586, saying that her majesty's subjects were much troubled for want of repair of Rawthey Bridge.
On 12 September, the Queen and her council wrote yet again to Tempest, saying that `she marvels at their negligence in the execution of her former orders concerning the rebuilding of Rawthey Bridge, and straightly commands them to meet at Sedbergh on the 7 or 8 October in order to take measure in the matter and make certificate of their proceedings before the 20 May next.'
The remains of the abutment of this wooden bridge can be seen still, but there is no mention as to when stone arches were thrown across a new site. The new bridge appears on a list of public bridges made on 28 April 1679.
On 2 May 1709, Quarter Sessions ordered that 4d in the pound be assessed and levied for the repairing or rebuilding of the Westmorland half of the bridge, which ever plan will be found the most convenient, and that such Justices as are pleased to be present do meet at the house of widow Bousfield in Ravenstonedale the 24 May to contract with some able and skilful workmen for the purpose.
On 12 July 1733, upon the petition of the inhabitants of Ravenstonedale, Quarter Sessions ordered the High Constables of the East and West Wards to view the causey adjoining to Rawthey Bridge and contract for its necessary repair with some experienced workmen.
In 1820 a new bridge with a single arch was built 50 yards below the old one. On 11 November 1913 it was reported that the arch forms a complete semi-circle, rising 17 feet in a span of 34 feet.
Carved on each side are the heads of two children who are said to have brought the workmen their tea. The stone from the old bridge was used to make Handley's Bridge.
"Rawthey Bridge was sited to be as unhelpful to Narthwaite and Murthwaite as possible." (from Harry Tunstall, Foggygill)