This paper proposes a dynamic analysis method for obtaining exact solutions of composite Timoshenko beams, which are inherently subjected to both the bending , and torsional vibrations. In this paper, the bending-torsion coupled vibration of composite Timoshenko beam is rigorously modelled and analyzed. Two numerical examples are provided to validate and illustrate the bending-torsion coupled vibration of composite Timoshenko beam structure. The numerical examples prove that the proposed method is of great use for the dynamic analysis of dynamic structures composed of multiply connected composite Timoshenko beams.