In general, deflection limit criteria of bridge design specifications would have been considered based on the static serviceability and structural stability. Dynamic serviceability induced from bridge vibration, as a comfort limit, actually has not been included in the criteria. Thus, it is necessary for dynamic serviceability to be considered in bridge vibration problems and for comfort limit on vibration to be needed for evaluating dynamic serviceability of bridges. In this paper, comfort limits of bridge structures considering the time duration exposed by vibration were examined with frequency and time dependent comfort limits, and they were evaluated by using the vibration signals measured from the existing bridges. Therefore, it is resulted that the time-dependent comfort limit considering the duration of vibration is an efficient estimate for evaluating dynamic serviceability of bridges.