Based on the equivalent bending stiffness of the viscoelastic cracked beam with open cracks, the corresponding complex frequency characteristic equations of a Timoshenko viscoelastic cracked beam are obtained by using the method of separation of variables and the Laplace transform. The vibration characteristics of a viscoelastic Timoshenko cracked beams with the standard linear solid model and Kelvin-Voigt model are investigated. By numerical examples, the effects of the crack location, crack number, crack depth, and slenderness ratio on the vibration characteristics of the viscoelastic cracked beams are revealed.