The bending vibration of a twisted beam with localized damage is studied based on the Timoshenko beam theory and Hamilton's principle. The equations of motion of the twisted beam are derived in the twist coordinate frame. The partial differential equations of motion are then discretized into a set of second-order ordinary differential equations by using a finite element method. An eigenvalue problem is solved to determine the natural frequency of the Timoshenko beam of concern. The effects of the twist angle, the damage location and boundary conditions on the free vibration behavior of the beam are discussed.