The structural integrity of bridges is susceptible to deterioration caused by traffic loads, environmental conditions, and weather phenomena. To maintain the safety and stability of bridges, regular inspections of their elements are required. Recent advances in the field of unmanned aerial vehicles (UAVs) provide a viable option for accurate and autonomous inspections of bridge structures without disrupting normal operations. This study focuses on the determination of the dynamic structural parameters of a suspension bridge. The methodology focuses on determining the natural vibration frequency of the bridge cables using UAV imagery. This paper contains a detailed theoretical presentation of the algorithm used, accompanied by a careful analysis of simulation results and empirical data from laboratory experiments and real case studies. In addition to the image processing-based approach for estimating the vibration frequency, the sensors on board the drone are also scrutinized and their effectiveness in detecting structural vibrations after the drone lands on the bridge surface is evaluated.