The field of blockchain interoperability plays a pivotal role in blockchain adoption. Despite these advances, a notorious problem persists: the high number and success rate of attacks on blockchain bridges. We propose Harmonia, a framework for building robust, secure, efficient, and decentralized cross-chain applications. A main component of Harmonia is DendrETH, a decentralized and efficient zero-knowledge proof-based light client. DendrETH mitigates security problems by lowering the attack surface by relying on the properties of zero-knowledge proofs. The DendrETH instance of this paper is an improvement of Ethereum’s light client sync protocol that fixes critical security flaws. This light client protocol is implemented as a smart contract, allowing blockchains to read the state of the source blockchain in a trust-minimized way. Harmonia and DendrETH support several cross-chain use cases, such as secure cross-blockchain bridges (asset transfers) and smart contract migrations (data transfers), without a trusted operator. We implemented Harmonia in 9K lines of code. Our implementation is compatible with the Ethereum Virtual Machine (EVM) based chains and some non-EVM chains. Our experimental evaluation shows that Harmonia can generate light client updates with reasonable latency, costs (a dozen to a few thousand US dollars per year), and minimal storage requirements (around 4.5 MB per year). We also carried out experiments to evaluate the security of DendrETH. We provide an open-source implementation and reproducible environment for researchers and practitioners to replicate our results.