Structural cracks may cause variations in structural stiffness and thus produce bilinear vibrations to structures. This study examines the dynamic behavior of structures with breathing cracks. A generalized algorithm based on the finite element method and bilinear theory was developed to study the influence of a breathing crack on the vibration characteristic. All the formulae derived in the time domain were applied to estimate the period of the overall bilinear motion cycle, and the contact effect was considered in the calculations by introducing the penetration of the crack surface. Changes in the dynamic characteristics of cracked structures are investigated by assessing the variation of natural frequencies under different crack status in either the open or closed modes. Results in estimation with vibrational behavior variation are significant compared with the experimental results available in the literature as well as other numerical calculations.