This paper presents a structural reliability estimation method incorporating vibration- based structural parameter identification. A large scale shaking table test of a three-bent concrete bridge model was performed. This approach was developed to reveal the importance of structural parameter identification in the reliability estimation. Along this line, a set of bridge models with varying structural parameters were first generated based on the Monte Carlo simulation. Then, each of them was analyzed with nonlinear time history analyses to obtain damage levels at the specific locations. Lastly, reliability estimation was performed for two sets of structural parameters. The first set was obtained as discussed above by nonlinear time history analysis with the Monte Carlo simulated parameters which is called non-updated structural parameters. The second one was obtained by updating the first set in Bayesian sense based on the vibration-based identification results which is called updated structural parameters. In the scope of this paper, it was shown that residual reliability of the system estimated using the updated structural parameters is lower than the one estimated using the non-updated structural parameters.