Police said there was no disruption to road traffic, trains or ferries, and the final climber was removed from the bridge about four hours later.
Police have arrested 13 protesters after an operation on the Sydney Harbour Bridge this morning.
The protest began at about 5.15am, with security staff able to detain several of the protestors.
Police from Sydney City Police Area Command attended and were assisted by officers from the Rescue and Bomb Disposal Unit, Marine Area Command and PolAir in removing protestors from beneath the bridge.
Three abseiling protesters could be seen dangling from the bridge between 6am and 9am, holding small banners that read "100% renewables" and "make coal history".
The Government have also had their input on this morning's protest, with Prime Minister Scott Morrison saying that taking action on climate was "important", but said protesters needed to be considerate of others.
As the protest continued above, Greenpeace held a media conference on the ground, repeating the calls for Prime Minister Scott Morrison to declare a climate emergency.
Seven people were arrested on the walkway of the bridge along with two others who tried to leave.
Ten were taken to local police stations for questioning.
"All over Australia, people are waking up to the realities of climate damage". "I call on you to declare a climate emergency now".
"Burning coal is the number one cause of climate change in Australia - we're here to say "no more". Our political leaders must listen to those already affected by climate disaster and act.
New South Wales police have confirmed that 10 people have been arrested in relation to the protest.