The electromechanical impedance(E/M)-based method detects local structural damages based on variations of electrical impedance signatures which are obtained from piezoelectric sensors bonded to the structure and excited in high frequency band. In this method, temperature changes may result in significant impedance variations and lead to erroneous diagnostic results of the structure. To tackle this problem, a new technique providing a 2-dimensional damage feature related to the temperature information is proposed to distinguish the structural damage from the undesirable temperature variation. For experimental tests to validate the proposed method, damages are introduced by bolt loosening to a bolt-jointed steel beam, and impedance signals are measured under varying temperature conditions through a piezoelectric sensor attached on the beam. A freely suspended piezoelectric sensor is additionally utilized to obtain temperature information indirectly from resistance signatures. From a relationship between the damage index (from a constrained sensor) and the temperature (from a freely suspended sensor or a temperature sensor), damages can be detected more clearly under varying temperature compared to other conventional approaches.