Bridge modal identification using an instrumented test vehicle as a moving sensor is promising but challenging. A key factor is to extract bridge dynamic components from vehicle responses measured when the bridge is operating. A new method based on an advanced adaptive signal decomposition technique, the successive variational mode decomposition (SVMD), has been developed to estimate the bridge modal parameters from the dynamic responses of a passing test vehicle. When bridge-related dynamic components are extracted from the decomposition, the natural excitation technique and/or random-decrement technique based fitting methods are used to estimate the modal frequencies and damping ratios of the bridge. Effects of measurement noise, moving speed and vehicle properties on the decomposition are investigated numerically. The superiority of SVMD in the decomposition is verified by comparing to another adaptive decomposition technique, the singular spectrum decomposition. The results of the proposed method confirm that the bridge modal frequencies can be identified from bridge related components with high accuracy, while damping ratio is more sensitive to the random operational load. Finally, the feasibility of the proposed method for bridge monitoring using a moving test vehicle is further verified by an in-situ experimental test on a cable-stayed bridge. The components related to the bridge dynamic responses are successfully extracted from vehicle responses.