The subject of this study was a two-span continuous concrete-filled steel box girder bridge. The bridge surface vibration was quantitatively measured by driving a vehicle of which total weight was 267 kN. The vibrational effect was assessed focusing on pedestrians on the basis of the experimental results. A 'concrete-filled steel box' is prepared by filling concrete in a separate box inside the conventional steel box. In a continuous bridge, concrete is restrictedly filled in the internal part where a negative moment is generated. A vibration acceleration response prediction equation was proposed by using the acceleration response and the scaled-weight obtained from the experiment. The proposed equation may be used to preliminarily predict the paved surface vibration response of a concrete-filled steel box girder bridge, though the applicable weight and speed of cars are partly limited. The vibration serviceability was assessed by using acceleration conversion curve of the Reiher-Meister. When the driving velocity of the vehicle used in the experiment was in the range of 10 km/h to 30 km/h, the vibration was in 'Level E'where the pedestrians are unable to recognize vibration. When the velocity of the vehicle was in the range of 40 km/h to 60 km/h, the vibration was in 'Levels D to E' which are the appropriate levels where the pedestrians do not feel uncomfortable, indicating that the bridge secured appropriate vibration serviceability.