Vehicles easily jump when crossing a bridge deck with large local roughness. To study the effect of vehicle load on bridge vibration, a vehicle-bridge coupling vibration experimental system considering vehicle bumping is established based on a double pylon cable-stayed bridge model. Continuous wavelet transform is adopted to analyze the time-frequency characteristics and energy distribution of the girder′s vibration signals. The impact effect of vehicle bumping on the bridge is discussed under different pavement conditions, and the distribution of the bridge vibration response is obtained with vehicle bumping at different positions. The results will provide reference for bridge design and safety operations.