The investigation on vehicle–bridge interaction systems (VBIS) plays an important role in evaluating the performance of bridges and/or vehicles. However, due to the limitations of traditional simulation methods and testing methods, the impact of vehicle jumping (VJ) on the VBIS has never been precisely disclosed. In order to accurately and comprehensively reveal the impact of VJ on the dynamic performance of VBIS, one real-time hybrid simulation method (RHSM) for VBIS considering the impact of VJ (VBIS-VJ) is proposed in this paper. In the proposed method, the vehicle system is chosen as the experimental substructure loaded by servo-hydraulic actuator loading system in real-time, whilst the bridge system is chosen as the numerical substructure numerically simulated in one computer. During the vehicle jumping, the vehicle and bridge vibrate freely respectively, otherwise, the experimental substructure and numerical substructure are synchronized at the coupling points in terms of force equilibrium and deformation compatibility in RHSM for VBIS-VJ. Firstly, the principle and numerical models of RHSM for VBIS-VJ are proposed. Furthermore, numerical simulations of RHSM for VBIS-VJ are conducted for verifying the feasibility of the proposed method. Finally, the influence of jumping position, jumping height, and driving speed on the VBIS is disclosed by hybrid simulations. It is shown that compared with the ever-known investigation methods, the proposed method could economically and accurately disclose the dynamic performance of VBIS-VJ. It is shown from the simulation results that compared with the referenced results, the quantitative errors of the proposed method with quarter vehicle model and half vehicle model are less than 2.5152% and 3.5599% respectively, which prove the effectiveness and accuracy of proposed RHSM for VBIS-VJ. The peak displacement of the bridge at a quarter-span and mid-span exceeds the three-quarters span by about 1.9–2.9[Formula: see text]mm. The influence of jumping position of a quarter span and midspan of bridge is much huger than that in the three-quarters span. The dynamic response of bridge increases with the increase the jumping height, but the deformation of the bridge is reduced when the jumping height is more than 0.05[Formula: see text]m. Meanwhile, the requirements for experimental loading equipment are acquired through the hybrid simulations, which could be used as a reference for selecting the loading system of the RHSM for VBIS-VJ.