Is there a pedestrian crossing at the Whirlpool Bridge?

No, there is no pedestrian crossing at the Whirlpool Bridge. That bridge is strictly for vehicles with a NEXUS card or other pre-approved travel documents. You cannot walk or bike across it, even if you have a passport. Don't bother showing up there on foot—you'll just get turned around by border officers.

If you want to cross into the US by foot, you have two options: the Rainbow Bridge (right near the falls, open 24/7) or the Lewiston-Queenston Bridge (about 10 minutes north by car or bus). The Rainbow Bridge is your best bet for tourists—it costs $1 USD or $1.25 CAD to walk across, and it has great views of the falls. Just bring your passport and expect a short wait at peak times.