Pedestrian-induced footbridge vibration comfort level is a complex problem that has been studied for a long time. However, no consensus has been reached on a quantitative calculation index for assessing vibration comfort level. Only simple comfort limits, rather than specific relationships between comfort level and the vibration endurance capacity of pedestrians, are currently available for assessing vibration comfort level of footbridges. This article aims to propose a sensitivity model for pedestrian-induced vibration comfort calculation based on the vibration endurance capacity of pedestrians and the vibration response of footbridges. The concepts of “human body resistance” and “vibration effect” were established according to the principle of probability and statistics. Mathematical definition of sensitivity was put forward. Calculation expressions for a pedestrian and pedestrians were deduced respectively. A theory of pedestrian-induced footbridge vibration comfort level was proposed. Field survey and experiment were conducted, the results of the field survey demonstrated that sensitivity values were in good agreement with the international vibration comfort standards. Furthermore, the field experiment results showed that the errors between the experimental results and the calculated results were within 6%. The proposed sensitivity theory can be used for pedestrian-induced footbridge vibration comfort quantitative calculation.