Officers attended the incident at the M48 crossing on Monday morning after “concerns were raised” for the man, Avon and Somerset Police said.
The motorway was closed for about an hour. A man in his 20s has been arrested.
Police said: “Officers attended the M48 Severn Bridge at 8.10am this morning after concerns were raised for a man who appeared to have climbed one of the towers and was flying a drone off it.
“The man, aged in his 20s, came down from the tower voluntarily and has since been arrested for causing a public nuisance.”
The M48 route affected by the closure on Monday is the smaller of the two crossings over the Severn.
Tolls on both the M48 and M4 bridges were removed earlier this month.
The latest incident comes just over a week after major disruption at Gatwick in the run-up to Christmas following apparent drone activity at the airport.
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