Tolls on the Cleddau Bridge will end in April.
Since it opened in 1975 the bridge fees have angered local people who commuted between Pembroke Dock and Neyland to avoid a 56-mile round trip by road.
Now Pembrokeshire CC and Welsh Government have agreed to stop the charges and fund maintenance out of main funds while the council hopes to redeploy the 25 to 30 tolls staff but will start talks about possible redundancies.
It was estimated by the council that the tolls ending will add £6.00 a week to a commuter’s pocket and will also cut costs for bus and HGV operators every month.