A modeling method for flapwise and chordwise bending vibration analysis of rotating pre-twisted Timoshenko beams is introduced. In the present modeling method, the shear and the rotary inertia effects on the modal characteristics are correctly included based on the Timoshenko beam theory. The kinetic and potential energy expressions of this model are derived from the Rayleigh–Ritz method, using a set of hybrid deformation variables. The equations of motion of the rotating beam are derived from the kinetic and potential energy expressions introduced in the present study. The equations thus derived are transmitted into dimensionless forms in which main dimensionless parameters are identified. The effects of dimensionless parameters such as the hub radius ratio, slenderness ration, etc. on the natural frequencies and modal characteristics of rotating pre-twisted beams are successfully examined through numerical studies. Finally the resonance frequency of the rotating beam is evaluated.