The Forth Road Bridge has a pedestrian path on both sides (note part of the path is a cycle path). You can therefore walk your dog (on a lead) across the bridge and take in the views. Parking is available at the bridge administration office (see map/directions below).
Paths are closed in high winds above 50mph. Also check the website (link below) to ensure the paths are not closed due to maintenance work.
Visitor Link 1 | Visitor Link 2
From Edinburgh: Follow the A90 northbound. Exit at the Echline Junction. At the roundabout take the third exit onto