The Doña Urraca Gate is an opening in the form of an access gate in the wall of the Zamora Wall. It is surrounded by two large towers. The popular name is due to Urraca de Zamora, the first-born daughter of Fernando I. The name Zambranos Gate is due to the remains of what used to be her palace, which no longer exists. It has been given other names such as Puerta de San Bartolomé, or Puerta de la Reina (or even Puerta de Zambranos de la Reina).

It is currently considered an Asset of Cultural Interest (and was declared a "National Artistic Monument" on 4 August 1874, under the name of "The Doña Urraca and San Torcuato gates with the part of the wall adjacent to them that exists in the city of Zamora").

As the walls of Zamora were built by Alfonso III at the end of the 10th century, it is possible that this opening dates from this period. The ballads give this gate the name of Urraca, as she was the one who met Rodrigo during the siege of Zamora, and it was later called by other names.

It formed part of an opening in the first line of city walls. It has a semicircular arch that opens onto a narrow street inside the city. A relief depicting Queen Urraca leaning out of the window of her palace, with the motto: Outside, outside Rodrigo, proud Castilian. These words, according to the Romancero, were addressed by the queen to the Cid, when the latter proposed that she give up the siege of the city to his brother Sancho II in their interview in 1072. There is a canvas in the church of San Antolin pictorially describing the shape of the Gate in Urraca's time. This painting shows that the gate is currently incomplete.