Periodic and quasi-periodic Timoshenko beams on Pasternak foundation are investigated using the differential quadrature method. Not only band gaps in the beams but also the dynamic response of them is analyzed. Numerical results show that vibration in periodic beams can be dramatically attenuated when the exciting frequency falls into band gaps. Different from the band structures of periodic beams without foundation, the so-called critical frequency was found because of the Pasternak foundation. Its physical meaning was explained in detail and a useful formula was given to calculate the critical frequency. Additionally, a comprehensive parameter study is conducted to highlight the influence of foundation modulus on the band gaps.