Westminster Bridge was designed by Thomas Page and opened in 1862 to replace the failing earlier span. The bridge consists of seven cast-iron arches with details by Charles Barry. It is the oldest standing river crossing in London.
Capheus drives the BPO van carrying the cluster and their hostages across the bridge in front of parliament in episode 2x11 "You Want a War?".
Rose and the Doctor run across the Westminster Bridge to the London Eye in episode 1x01 "Rose". The alien spacecraft lands in the Thames right by the bridge in episode 1x04 "Aliens of London". Clara and the Doctor ride across the bridge in episode 7x06 "The Bells of Saint John".
Source: The Doctor Who Locations Guide
Jim walks across the deserted bridge.
From episode 2x06 "Honour Bound".
Source: IMDb
Source: IMDb
Source: IMDb
Source: IMDb
Source: IMDb
Source: IMDb
Source: IMDb
Source: IMDb