In this work, a theoretical and practical study of the behavior of a tensegrity based pedestrian bridge constructed with natural materials is presented. Initially it is shown the concept of tensegrity structures, highlighting its emergence and current context, applications within civil engineering and studies related to this structural system. The importance and benefits of using natural materials in civil construction are also presented. A pedestrian bridge design made using tensegrity structure is designated as study object and a prototype of the bridge s module is built in 1:25 scale. A constructive method is proposed considering deployable techniques for assembly and disassembly. Subsequently, a prototype on a 1: 6 scale is built using Phyllostachys aurea bamboo culms for the struts and sisal ropes for the cables. The module is instrumented and tested statically and dynamically in order to understand the processes of loss of prestress and creep on the structure s behavior. The results obtained from the experimental tests are compared with the numerical predictions obtained with the aid of a computational model regarding the stresses and the vibration modes. Through the crossing of the data it was possible to indirectly determine the level of prestress applied in the tensegrity module and to evaluate the loss of prestress over time. The static and dynamic investigations showed considerable affinity.