This study presents the design of autonomous smart sensor nodes for damage monitoring of tendons and girders in prestressed concrete (PSC) bridges. To achieve the objective, the following approaches are implemented. Firstly, acceleration-based and impedance-based smart sensor nodes are designed for global and local structural health monitoring (SHM). Secondly, global and local SHM methods which are suitable for damage monitoring of tendons and girders in PSC bridges are selected to alarm damage occurrence, to locate damage and to estimate severity of damage. Thirdly, an autonomous SHM scheme is designed for PSC bridges by implementing the selected SHM methods. Operation logics of the SHM methods are programmed based on the concept of the decentralized sensor network. Finally, the performance of the proposed system is experimentally evaluated for a lab-scaled PSC girder model for which a set of damage scenarios are experimentally monitored by the developed smart sensor nodes.