This paper presented the process of implementing and developing a novel damage detection approach on beam like-structure using modal parameters. In Theoretical Modal Testing (TMT), the mode shapes, mode shape curvatures and natural frequencies were extracted by formulating differential equations of motion of un-cracked and cracked beams. In Experimental Modal Testing (EMT), the transient excitation method of modal testing is performed by using an impact hammer test. EMT involves an extraction of natural frequencies through frequency response functions at various surface cracks on the beam in a virtual instrumentation environment. Cantilever beams of Aluminum 6061 is considered for analysis with crack position at the interval of 50 mm from fixed end to free end at varying crack depths 20%, 40% and 60% of the beam total depth. The modal data from experimental modal testing was validated with theoretical modal testing data. It was observed that there was a minor change in lower modes; major change in natural frequencies for higher modes with the variation of damage location/depths. To overcome the difficulty in crack detection of structures based on mode shapes and frequencies individually, both the parameters mentioned are collectively used in this work as Frequency-Modeshape Based Damage Detection Technique (FMBDD) to evaluate the crack location as well as crack depth easily and accurately.