The suspension of a car has different structural forms but usually consists of springs, shock absorbers, guiding mechanisms, etc. As a vehicle moves, the terrain often induces a multifaceted non-white noise vibration within the vehicle. Research on this type of vibration often uses the operational modal analysis (OMA) method, due to its advantages of not requiring knowledge of excitation signals. The disadvantage is that it can only analyze systems under white noise excitation, otherwise it will bring errors. So, this paper proposes a frequency domain fitting algorithm (FDFA) based on colored noise excitation. Initially, an exposition on the foundational principles of the FDFA technique was provided, followed by a demonstration of the modal identification approach. Subsequently, a simulation scenario involving a cantilever beam, akin to a suspension system, was chosen for examination in three instances, revealing that the frequency discrepancies are under 2.94%, and for damping coefficients, they are less than 2.76%. In conclusion, the paper’s introduced FDFA technique, along with the frequency–spatial domain decomposition (FSDD) approach, were employed to determine the modal characteristics of aluminum cantilever beams subjected to four distinct colored noise stimulations. The findings indicate that when utilizing the FDFA technique, the error in modal frequency is kept below 2.5%, while the error for the damping ratio does not exceed 15%. Compared with FSDD, the accuracy was improved.