Abstract: Based on the vehicle-curved bridge dynamic interaction, a procedure is proposed for recovering vertical and radial mode shapes of curved bridges from the dynamic responses of a passing vehicle. Closed-form solutions are derived for the out-of-plane and in-plane vibrations of the curved beam, as well as the vehicle-curved bridge contact responses. The formulas for calculating both the vertical and radial contact responses from the vehicle response are given to eliminate the adverse effect of the vehicle’s frequency. The variational mode decomposition (VMD) and Hilbert transform (HT) are applied to construct the vertical and radial mode shapes of the curved beam. From the numerical analyses, it was demonstrated that: the VMD-HT can be successfully used for constructing both the vertical and radial mode shapes of the curved bridge from the contact responses with high precision; the radii of the curved bridge have little effect on the identification of mode shapes; compared with the single-span bridge, the identification results of mode shapes of the multi-span curved bridges slightly decrease. This paper provides an analytical reference for the application of vehicle scanning method for curved bridges.