Infrastructure bridges play a crucial role in fostering economic and social development. However, the adverse effects of natural hazard and weather degradation, coupled with escalating rates of traffic, pose a significant threat. The resultant strain on the structure can lead to undue stress, elevating the risk of a critical asset failure. Hence, non-destructive testing (NDT) has become indispensable in the surveillance of bridge infrastructure. Its primary objectives include ensuring safety, optimizing structural integrity, minimizing repair costs, and extending the lifespan of bridges. NDT techniques can be applied to both existing and newly constructed bridge structures. However, it is crucial to recognize that each NDT method comes with its own set of advantages and limitations tailored to specific tasks. No single method can provide an effective and unequivocal diagnosis on its own. Among the various NDT methods, Ground Penetrating Radar (GPR) has emerged as one of the most widely employed techniques for monitoring bridges. In fact, recent technical regulations now mandate the use of GPR for bridge monitoring and characterization, underscoring its significance in ensuring the structural health and longevity of these critical infrastructures. Ground Penetrating Radar (GPR) stands out as one of the most highly recommended non-destructive methods, offering an efficient and timely assessment of the structural conditions of infrastructure. Recognizing the pivotal role of non-destructive testing (NDT) in this context, this paper aims to elucidate recent scientific endeavors related to the application of GPR in bridge engineering structures. The exploration will commence with a focus on studies conducted both at the model level within laboratory settings and on real cases. Subsequently, the discussion will extend to encompass the characterization and monitoring of the bridge’s main elements: slab, beam, and pillar. By delving into these scientific experiences, this paper intends to provide valuable insights into the efficacy and applicability of GPR in assessing and ensuring the structural integrity of bridges. This paper provides a concise survey of the existing literature on the application of Ground Penetrating Radar (GPR) in the assessment of bridges and viaducts constructed with masonry and reinforced concrete, taking into account papers of journal articles and proceedings available on open databases. Various approaches employed in both laboratory and field settings will be explored and juxtaposed. Additionally, this paper delves into discussions on novel processing and visualization approaches, shedding light on advancements in techniques for interpreting GPR data in the context of bridge and viaduct evaluations.