A wallaby was captured by police after hopping along the Sydney Harbour Bridge shortly before the morning rush hour.

The animal was captured on video by motorists, before leaving the bridge on the Cahill Expressway.

Three police officers were needed to stop the animal, which is believed to have made it onto the bridge from a golf course in Sydney suburb Cammeray.

The animal was taken to the Taronga zoo for treatment after capture, and a full-body x-ray showed it to be in good health with no injuries.