In compliance with recent (2022) federal legislation found in the Code of Federal Regulations Part 650 Subpart C, risk-based inspection (RBI) practices for determining inspection intervals for highway bridges are now permitted. The RBI approach allows for a systematic assessment of risk and prioritizes inspection resources where they are most needed. However, to ensure an optimal level of safety and serviceability, it is necessary to utilize reliable inspection techniques in conjunction with an appropriate inspection interval, as emphasized by National Cooperative Highway Research Program (NCHRP) Report 782. Utilizing ineffective inspection techniques may lead to uncertainty about the element’s condition and thus increase the risk associated with the component. Therefore, this paper proposes a framework that integrates a new factor, called the inspection effectiveness factor (IEF), into the RBI process to rationally estimate the inspection interval considering the reliability of the inspection technique. The inspection interval in the proposed approach is determined based on the damage mode, associated likelihood, consequences, and effectiveness of the inspection technique, offering a rational approach for decision-makers in estimating the inspection interval of bridges and identifying appropriate inspection techniques for different defects. The effectiveness of the proposed method is validated through experts’ judgment. In addition, the proposed approach is demonstrated through a case study utilizing historical inspection reports.