A damage identification method combining improved Hilbert-Huang transform (HHT) and power spectrum density (PSD) sensitivity analysis is proposed to study the acceleration response signals of a test vehicle and to identify damage in bridge structures. This study uses a single acceleration sensor arranged on the test vehicle to identify single and multiple positions of damage on the bridge and identify the degree of damage. Firstly, the vehicle acceleration response is transformed by HHT to determine the position of damage on the bridge structure using changes in the 3D time-frequency amplitude spectrum, which shows a decrease in the instantaneous frequency and an increase in the instantaneous amplitude at the damage position. Secondly, after determining the damage position on the bridge structure, the PSD sensitivity method is used to identify the damage parameters and determine the damage degree at the damage position. The combination of the two methods solves the problem that the traditional direct use of signal processing technology (such as wavelet transform, Hilbert transform) can only identify the damage location of the bridge and use the power spectrum sensitivity to identify the damage degree of each unit of the structure, which leads to a large amount of sensitivity calculation .The identification capabilities of the proposed technique are studied varying the damage locations, crack depths and velocity of vehicle speed vehicle mass .The effect of ambient noise is also taken into account. Numerical simulations shows that the method presented in this paper could identify damage in bridge structures.