This papers presents a practical damage detection algorithm based on damage index method that accurately assesses both the location and severity of the localized detriment in a bridge structure using only limited mode shapes. In the algorithm, the ratio of the modal vector sensitivity of an undamaged structure to that of a damaged structure is used as an indicator of damage. However, a difficulty arises when the damaged element is located at a node of mode where the amplitude of medal vector is close to zero, leading the singularity of the ratio (i.e., division-by-zero). This singularity problem is overcome by introducing a parameter denoted a sensitivity filter, a function of mode shape of the structure, in modal vector sensitivity. Using this concept, an improvement can be considerably achieved in the estimation of both degree of severity and location of damage. To verify the proposed algorithm, its numerical implementations are conducted for a simply supported beam and a 2-span continuous beam.