Thorpe enjoyed great success in the city, as he claimed three gold medals at the 2000 Olympic Games.

Having claimed a further two gold medals at Athens 2004, he retired as Australia’s most successful Olympian.

The 35-year-old, nicknamed "Thorpedo", took the Queen’s Baton to the summit of the Sydney Harbour Bridge.

He claimed the bridge climb had been an ambition for a long time and that he had relished taking in the views of the city skyline and harbour.

"It’s very special moment for me to be carrying the Queen’s Baton this evening and showcasing Sydney, my hometown, and Australia to the rest of the world," said Thorpe.

"The Commonwealth Games were an important part of my career and the Queen’s Baton should inspire all athletes hoping to compete at Gold Coast 2018.

"It’s also a reminder the Games are just around the corner."

Thorpe earned 11 Commonwealth Games medals during his illustrious career, with 10 of those gold.

He claimed four golds at Kuala Lumpur 1998, before securing six golds and a silver at Manchester 2002.

The swimmer is among the sporting personalities to hold the Baton as the countdown continues to the Commonwealth Games.

It is due to be taken the Sydney Cricket Ground tomorrow for the final Ashes Test Match between Australia and England.

Former Australian cricketer Glenn McGrath is due to carry the Baton in Sydney on February 3, along with swimmer Leisel Jones.

It will take place five days after a traditional Relay event in New South Wales on January 28, where it will visit 28 celebration communities and be carried by more than 470 batonbearers, local legends.

Crowds have been encouraged to line the streets for the Relay.

Around 3,800 Australians will have carried the Baton at the conclusion of its Australian tour, including 1,800 from Queensland.

It will arrive in the state on March 3, where the relay will continue until the Games’ Opening Ceremony, which is due on April 4.