There is queuing traffic on the M25 in both directions after police closed the bridge.
National Highways East wrote on Twitter that there were "60 minute delays with three miles of congestion on the approach".
The 1.7m-long bridge takes traffic southbound on the A282, which connects the M25 London Orbital Motorway between Essex and Kent. Just Stop Oil said the two supporters had ascended the two 84m masts at the north/Essex end of the bridge. The group said one of the pair, Morgan Trowland, was a 39-year-old bridge design engineer from London.
Mr Trowland: "Our government has enacted suicidal laws to accelerate oil production - killing human life and destroying our environment.A Just Stop Oil spokesperson added: "This is an act of resistance against a criminal government."
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