Damage detection plays a very important role to the maintenance of bridge structures. Traditional damage detection methods are usually based on structural dynamic properties, which are acquired from pre-installed sensors on the bridge. This is not only time-consuming and costly, but also suffers from poor sensitivity to damage if only natural frequencies and mode shapes are concerned in a noisy environment. Recently, the idea of using the dynamic responses of a passing vehicle shows a convenient and economical way for damage detection of bridge structures. Inspired by this new idea and the well-established tap test in the field of non-destructive testing, this paper proposes a new method for obtaining the damage information through the acceleration of a passing vehicle enhanced by a tapping device. Since no finger-print is required of the intact structure, this method can be easily implemented in practice. The logistics of this method is illustrated by a vehicle-bridge interaction model, along with the sensitivity analysis presented in detail. The validity of the method is proved by some numerical examples, and remarks are given concerning the potential implementation of the method as well as the directions for future research.