As the standards of bridge design and construction continue to improve, more and more combination bridges are being put into use. The public’s demand for aesthetically pleasing bridges is also increasing, making it necessary to use the special structure of steel–concrete combinations, continuous V-shaped piers, and continuously stiffened bridges. This structure has the structural and mechanical characteristics of both a continuous girder and a V-shaped pier bridge. The span can be reduced to a certain extent because the support of the V-shaped piers can be applied directly to the main girder. The spanning capacity of the bridge is generally greater than that of a combined steel–concrete girder bridge with vertical piers. The whole bridge is continuous, without expansion joints, making it more stable and safe for traffic. At present, research on this structural bridge type is not yet complete. In this paper, the structural system and dynamic characteristics of this bridge are investigated in the context of real-life engineering. Firstly, the self-vibration characteristics of the three structures were analyzed, and their effects on the self-vibration characteristics were studied by varying the height of the crossbeam at the V-shaped piers’ support, the main beam stiffness, and the V-shaped piers’ stiffness in the three structures. The results show that the increase in main beam stiffness can effectively improve the vertical stiffness of the three structures, with the most obvious effect on structure one and the least effect on structure two; the increase in V-shaped pier stiffness causes a huge improvement in the transverse stiffness of the three structures. Subsequently, a two-unit rod system model of the background bridge was established using the finite element method, and the original model was improved by calculating the equivalent shear stiffness of the shear nail group so that it could simulate the shear joints more accurately. The effects of the shear connectors on the self-vibration characteristics of the steel–concrete combined continuous beam–V-shaped piers and continuous rigid-frame bridge were investigated through theoretical analysis and finite element simulation. It was found that due to the existence of flexible shear connectors, the interface between the steel beam and concrete slab in the combined beam has a slippage effect which causes the deformation to become unsynchronized, and there is a certain difference between vibration patterns. The stiffness of the shear connectors has a certain effect on the self-vibration frequency of the bridge. The damage to the local shear connectors does not have a large effect on the self-vibration frequency of the overall structure, but the damage to the shear connectors at the beginning of the connection between the V-shaped piers and the main beam is greater than that of the other areas. Damage to shear joints should be given special consideration in comparison to other areas.