Built after the Macau-Taipa Bridge, it is the second one that connects the peninsula and Taipa across the Zhujiang River Estuary. Thus it is also referred to as the New Macau-Taipa Bridge.
Construction started in June 1990. Opened to traffic in March 1994, it is the longest of the three bridges crossing Baía da Praia Grande between Macau Peninsula and Taipa, with a length of 4.7 kilometers (2.9 mi), including 800 meters (2,625 ft) of connecting viaduct, and a width of 18 metres. There are two crests on the bridge to allow for the passage of sea traffic. The highest point of the bridge is 30 meters (98 ft) above sea level. The two entrances on the peninsula are at Avenida de Amizada near the Hong Kong-Macau Ferry Terminal and at Avenida da Ponte da Amizade in Areia Preta. The two entrances on the northern slope of Taipa Grande are at Estrada de Pac On, that connects to Pac On, and at Estrada Almirante Magalhães Correia, that connects with the Centro of Taipa (Vila da Taipa).