A vibration-impedance-based monitoring method is proposed to predict the loss of prestress forces in prestressed concrete (PSC) girder bridges. Firstly, a global damage alarming algorithm using the change in frequency responses is formulated to detect the occurrence of damage in PSC girders. Secondly, a local damage detection algorithm using the change in electro-mechanical impedance features is selected to identify the prestress-loss in tendon and anchoring members. Thirdly, a prestress-loss prediction algorithm using the change in natural frequencies is selected to estimate the extent of prestress-loss in PSC girders. Finally, the feasibility of the proposed method is experimentally evaluated on a scaled PSC girder model for which acceleration responses and electro-mechanical impedances were measured for several damage scenarios of prestress-loss.