Recently, the residual contact response has been proposed to eliminate the adverse effect of pavement irregularity in the vehicle scanning method. Based on the previous study of two-connected moving vehicles, the concept of using two residual contact responses from three-connected moving test vehicles is further proposed to enhance the identification results of bridge frequencies and damping ratios in this study. From the numerical investigation, it is shown that using one of the two residual contact responses from three-connected vehicles is feasible to extract the frequencies and estimate the damping ratios of a bridge. The generalization to construct bridge mode shapes is inferred.