The demand for more sustainable structures has been shown as a growing tendency, and engineers can use optimization techniques to aid in the design and sizing stage, achieving solutions that minimize its cost and environmental and social impacts. In pedestrian bridges, which are subjected to human-induced vibrations, it is also important to ensure the users’ comfort, besides the security verifications. In this context, the objective of this paper is to perform a multi-objective optimization of a steel-concrete composite pedestrian bridge, minimizing cost, carbon dioxide emissions, and vertical acceleration caused by human walking. For this, the Multi-Objective Harmony Search (MOHS) was applied to obtain non-dominated solutions and compose a Pareto Front. Two scenarios were considered with different unit emissions obtained from a life cycle assessment in the literature. Results show that by increasing 15% the structure cost, the vertical acceleration is reduced from 2.5 to 1.0 m/s2. For both scenarios, the optimal ratio for the web height and total span (Le) lies between Le/20 and Le/16. The web height, the concrete strength, and the slab thickness were the design variables with more influence on the value of the vertical acceleration. The Pareto-optimal solutions were considerably sensitive to the parameters varied in each scenario, changing concrete consumption and dimensions of the welded steel I-beam, evidencing the importance of carrying out a sensitivity analysis in optimization problems.