The Puente Viejo (old bridge) in Ronda, was built on remains of an older bridge. According to…read moreSpanish touring sites, this version of the bridge was built in the 16thC, however, Wikipedia claims it was built in 1616 (the year of Shakespeare's death). I would tend to go with the Spanish info, dating it to the 1500s. The more famous Puente Nuevo (new bridge) is a "young" 200+ years old.
While Puente Nuevo allows vehicular traffic, Puente Viejo is a pedestrian-only bridge. It is accessible from lower points in town, down the hill from the Palacio del Rey Moro, on the old side of the city, and near Iglesia de Padre Jesús on the new side.
This bridge has great views, but, IMO, not as dramatic as those from Puente Nuevo.
Puente Viejo is in Carlos Saura's film version of Carmen (1983). Los Caños bar, nearby, shows photo stills from the movie.
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Near the old bridge, there is an entrance to walk the INTERIOR of the city walls, to see these old ramparts from the inside. Ask for more info from your hotel, because this is not of widespread tourist knowledge.