Bridges will inevitably experience structural damage during long-term operation, which will decrease their structural load bearing capacity and durability. The vibration characteristics of bridge structures can be used as evaluation indicators for accurately diagnosing their deterioration. This study aimed at developing a vibration testing method for identifying bridge deck damage that does not affect traffic and is easy to implement. The vibration tests on the in-service bridge revealed it was mainly subjected to vertical vibrations, with the accelerations in the vertical direction about twice those in the horizontal direction. Based on fast Fourier transform analysis, the dominant vertical vibration frequencies were 2.34 Hz, 4.10 Hz, 10.30 Hz, 14.45 Hz and 18.75 Hz. A series of 0.1–0.3 Hz bandpass filters were used with those frequencies at the centers for modal analysis. The experimental results were then compared to the finite element analysis results. This study proposed a vibration-based damage identification method based on the differences between the bridge deck and both main steel girders. The study confirmed the convenience and effectiveness of using underneath maintenance walkways for wireless vibration testing.