A simplified method is presented for evaluating the dynamic properties of structures considering the effects of soil–pile–structure interaction (SPSI). A substructure method is used to establish the model of the soil–pile–structure system which is characterized by several dimensionless parameters. The shear-type structure is modeled as a generalized single-degree-of-freedom system using the virtual displacement principle, and the impedance functions of the floating pile-foundation are formulated by the thin-layer method. A number of coupled systems are analyzed and the results are used as the statistical base to obtain the mathematical relations between the dimensionless parameters and the dynamic properties. The dynamic properties solved by the equations are compared with those of the field experiment, shaking-table test and other analytical methods. The results indicated that the proposed equations are of high accuracy and can be used to obtain the dynamic properties of piles directly without performing complex analysis.