Bridge health monitoring has been a prominent focus within the global engineering community. Bridge owners, stakeholders, and engineers face the formidable tasks of ensuring efficient monitoring, conducting reliable data analysis, interpreting data logically, and making timely decisions. With the increasing global infrastructure deficit, there is an ever-increasing need to develop reliable and economical bridge monitoring solutions. In this paper, a bridge condition assessment technique is proposed that can utilize the vibration data collected from the instrumented sensors and provide reliable system identification results. The proposed method develops a hybrid approach by integrating the Natural Excitation Technique (NExT) and Empirical Fourier Decomposition (EFD) to analyze ambient bridge vibration data and determine the modal parameters of the bridge. First, NExT is formulated to determine the cross-correlation functions of the bridge measurements, and then EFD is explored to decompose the signals into their monocomponents to identify the bridge modal parameters. The proposed methodology can overcome mode mixing and perform modal identification of a system with closely spaced frequencies and low energy modes. The estimated modal parameters such as bridge frequencies, mode shapes, and damping ratio are used for condition assessment of numerical, experimental and full-scale structures, including a short-span steel bridge located in Ontario, Canada. The results demonstrate that the proposed methodology can provide accurate and robust estimates of bridge modal parameters. Future research is reserved for real-time implementation of the proposed methodology for a wide range of civil structures.