Beams are often subject to bending-torsion coupled vibration due to mass coupling and/or stiffness coupling. This paper proposes a dynamic analysis method using the exact dynamic element for bending-torsion coupled vibration of general plane beam structures with joints. The exact dynamic element matrix for a bending-torsion coupled beam is derived, and the detailed procedure of using the exact dynamic element matrix is also presented. Three examples are provided for validating and illustrating the proposed method. The numerical study proves the proposed method to be useful for dynamic analysis of bending-torsion coupled beam structures with joints.