Modular bridge construction enabling better productivity of design and construction by standardized members and robotic construction becomes an important issue in construction industry. Modular structures needs accurate information delivery between design, fabrication and construction processes. BIM (Building Information Modeling) based parametric modeling was proposed for the modular bridge substructure. Considering ranges of parameters of the modular bridge, fixed value, variables and relations were defined and these parametric models were applied to design, analysis and fabrication. Experience from development of new structures can be embedded in the 3D models, and the models provide efficient and precise knowledge delivery.