In this study, analytical method is applied for the estimation of dynamic behaviors of beam-coupled structures. Mathematical expressions are given with terms of shape factors, material information and assembly angles of each sub-component. Based on Euler-Bernoulli beam theory, entire formulation is built with compatibility of system dynamics. The coupled structures are divided into two types, point coupling and mass coupling, related with the properties of coupling points. Point coupling is commonly used assumption that two sub-components are combined with lumped spring or damping, and mass coupling has undeformable rigid joint which has mass and inertia like welded structures. Dynamic properties of coupled structures are predicted in forms of frequency response functions and spectral responses about given forces. The verification process is conducted for assessing the accuracy of the estimation formula by using modal frequencies and mode shapes of beam-coupled structures. Extracted modal parameters from experimental modal analysis and finite element method are adopted as reference values for verification.