Venezuelan forces took control of the Francisco de Paula Santander bridge, which marks the border between Colombia and Venezuela, near the town of Cucuta on Monday evening.
Footage shows the Venezuelan National Guard (GNB) occupying the bridge, and a small group of them walking all the way up to the Colombian side before retreating once more.
Violence had broken out between the GNB and protesters minutes earlier.
The bridge was the scene of fierce clashes on Saturday, after Venezuelan security forces blocked humanitarian aid, organised by the US, from entering the country.
Nearly 300 were injured and four were reported dead in the clashes on Saturday.