Although asymmetric beams are widely used in industry, few research results are available on the dynamic modeling and analysis of structure including asymmetric beams. Asymmetric beams cause complicated vibration phenomena due to the inherent bending-torsion coupled vibration. In this paper, an exact dynamic element matrix for the bending-torsion coupled vibration of asymmetric beam is derived. The application of the derived exact dynamic element matrix is demonstrated by some illustrative examples wherein the natural frequencies by the proposed modeling method are compared with those available in the literature. Another numerical example is also illustrated which deals with a general beam with joints. The numerical study shows that the exact dynamic element model is useful for the dynamic analysis of asymmetric bending-torsion coupled beams.