Tensegrity structures still represent a relatively new field of research in civil engineering; in particular, if on one hand the design of these structures, including static and dynamic analysis, has been explored by researchers, structural health monitoring is still an almost completely new topic to research about. The main purpose of this dissertation is to evaluate the feasibility of structure health monitoring or damage detection in tensegrity structures using output-only vibration measurements. The changes in the natural frequencies of the structure, which is represented by a modular pedestrian tensegrity bridge designed on purpose for this study, have been evaluated through changes in damage scenarios.