Purpose – The interest in the ability to detect damage at the earliest possible stage is pervasive throughout the civil engineering over the last two decades. In general, the experimental techniques for damage detection are expensive and require that the vicinity of the damage is known and readily accessible; therefore several methods intend to detect damage based on numerical model and by means of minimum experimental data about dynamic properties or response of damaged structures. The paper aims to discuss these issues. Design/methodology/approach – In this paper, the damage detection problem is formulated as an optimization problem such as to obtain the minimum difference between the numerical and experimental variables, and then a modified ant colony optimization (ACO) algorithm is proposed for solving this optimization problem. In the proposed algorithm, the structural damage is detected by using dynamically measured flexibility matrix, since the flexibility matrix of the structure can be estimated from only the first few modes. The continuous version of ACO is employed as a probabilistic technique for solving this computational problem. Findings – Compared to classical methods, one of the main strengths of this meta-heuristic method is the generally better robustness in achieving global optimum. The efficiency of the proposed algorithm is illustrated by numerical examples. The proposed method enables the deduction of the extent and location of structural damage, while using short computational time and resulting good accuracy. Originality/value – Finding accurate results by means of minimum experimental data, while using short computational time is the final goal of all researches in the structural damage detection methods. In this paper, it gains by applying flexibility matrix in the definition of objective function, and also via using continuous ant colony algorithm as a powerful meta-heuristic techniques in the constrained nonlinear optimization problem.