The £22m bridge, designed to take cyclists and pedestrians between Chelsea Harbour and Battersea, would sit beside the 1850s listed railway bridge and is being promoted as the Jubilee Footbridge.
The plans are being supported by Palace Investments, Hotel Rafayel and One-world design architects which submitted plans for approval.
Expedition Engineering, designers of the Olympic Velodrome and the Thames Cable car, carried out structural engineering work.
The proposal is supported by local council leaders at Wandsworth and Hammersmith & Fulham.