To investigate the impact of structural damages on the comfort level of suspension footbridges under human-induced vibrations, this study addresses the limitations of traditional manual testing, which often entails significant manpower and material resources. The aim is to achieve rapid estimation and health monitoring of comfort levels during bridge operation. To accomplish this, the study combines finite-element simulation results to establish a data-driven library and introduces three distinct machine learning algorithms. Through comparative analysis, a machine learning-based method is proposed for quick evaluation of bridge comfort levels. Focusing on the Yangjiadong Suspension Bridge, the study evaluates and researches the comfort level of the structure under the influence of human-induced vibrations. The findings revealed a relatively low base frequency and high flexibility. Additionally, when considering the mass of individuals, peak acceleration decreased. The predictive performance of the Artificial Neural Network (ANN) model was found to be superior when accounting for multi-parameter damages, yielding root mean square error (RMSE), mean absolute percentage error (MAPE), and R-squared (R2) values of 0.03, 0.02, and 0.98, respectively. Moreover, the error ratio of the generalization performance analysis was below 5%. Furthermore, the study identified a damage coefficient of 0.13 for the bridge’s main cable, hanger, and steel longitudinal beam. Under a crowd density of 0.5 people per square meter, the predicted peak acceleration was 1.098 m/s2, with a model error of less than 10% compared to the observed value of 1.004 m/s2. These results underscore the model’s effectiveness in swiftly evaluating bridge comfort levels, thereby offering valuable insights for the health monitoring of bridge comfort levels.