An analytical procedure of dynamic interaction analysis of the straddle monorail bridge-vehicle coupling system is proposed in this paper based on the finite element method and energy method. The calculation procedure is programmed with VB language for the solution of the governing motion equations of the straddle-type monorail bridge-vehicle coupling system. The effects of speed, three kinds of loads and different radius of curvature on dynamic responses of the monorail bridge-vehicle coupling system are analyzed. The simulation indicates that vertical vibration amplitude of the track beam decreases while the lateral amplitude increases with the increase in the radius of the curvature; the maximum value in lateral and vertical direction is 0.075 and 0.43 mm, respectively; and the maximum amplitude (lateral and vertical) and acceleration (lateral and vertical) are 0.69, 0.046 mm, 0.15 and 0.62 m/ s 2 , respectively, at the speed of 80 km/h. The vibration amplitude (lateral and vertical) and vertical acceleration increase with the increasing load, and the maximum values are 0.041, 0.43 mm and 0.44 m/s 2 , respectively. The lateral acceleration is not easily affected by the load conditions.