The problem of structural parameter measurements needs a total solution bridging theory and experiments. In this paper, a practical methodology for in situ measurements of structural mass, stiffness, and damping is presented for built-up structures. As for the experimental uniqueness of the methodology, a reaction force actuator and non-contact optical device are utilized respectively as an input force generator and output displacement measurer, providing a fundamental data set of the proposed numerical algorithm for data-driven structural parameter estimation. The algorithm autonomously estimates the diagonalized mass, symmetric stiffness, optimal non-proportional damping, and suboptimal proportional damping matrices for multi-degrees-of-freedom structures. Structural parameter measurements of two built-up structures followed by a comparison with conventional measurements are used as examples for verification of the accuracy of the proposed methodology.