The non-destructive evaluation technique using a piezoceramic (PZT) as an actuator-sensor has a potential to efficiently detect structural damage. In this technique, a PZT actuator-sensor patch is bonded on a structure. Through the measurement of its electrical impedance, which is related to the mechanical impedance of the structure being bonded, the change in structural properties due to damage can be detected. This paper presents the use of a PZT actuator-sensor in conjunction with numerical model-based methodology in structural health monitoring to quantitatively detect damage of bolted joints. The structure used in this study consists of two aluminium beams connected by a bolted joint. The damage was simulated by loosening the bolts. To quantitatively monitor the damage, a numerical model of the structure was formulated. A spectral element method (SEM), based on a wave propagation approach, was used to model the structure. A bonded-PZT beam and a bolted joint element were developed by using the SEM. The equations of motion were derived by using Hamilton's principle and then the spectral element matrices were formulated. Experimental results show the effectiveness of this method to detect the damage. By using the proposed model, the loosening of bolts can be quantitatively identified as the change in stiffness and damping at the bolted joint, indicating a high potential of this method in order to quantitatively monitor structural damage.