The firm has formally signed a £16.3m deal with the Tay Road Bridge Joint Board and hopes to start work in June.
All new bridges are designed to withstand shipping impact but the Tay Road Bridge is effectively unprotected at present.
Since it was opened in 1966 the bridge has been struck three times, although all have been glancing blows with only superficial damage caused.
The three columns which vessels pass bound for Perth harbour will be protected with steel piling 1.8 -2m in diameter and 60m long. This will allow any impact to be taken by the bedrock.