With the emergence of slimmer footbridges and the introduction of lighter materials, the challenge of vibrational comfort assessment becomes more and more relevant. Previous studies have shown that each pedestrian will act both as an inducer and a damper, referred to as human–structure interaction. However, this interaction is currently not implemented in design guidelines, which leads to a poor comfort estimation for small lightweight footbridges. Derived from smartphone-based vibration measurements, this paper provides an overview of the modal parameters at various pedestrian densities and a comfort assessment of a selection of simply supported GFRP and steel lightweight footbridges in Flanders. The results indicate that the initial structural damping ratios for GFRP bridges exceed the values set in design guidelines and that they increase with an increasing pedestrian density. Further, it is shown that the measured accelerations do not relate proportionally to the pedestrian density. From both results the relevance of human–structure interaction is confirmed. Finally, while the first natural frequency is analytically predicted accurately, the vertical accelerations are substantially overestimated. Here, a better estimation can be made based on the experimentally measured damping ratios. The results contribute to a better understanding of human–structure interaction and the vibration assessment of lightweight footbridges. Practical applications include optimizing footbridge design, focussing on better performance and improving safety and user experience.