Abstract Geometrically nonlinear free and forced vibrations of damaged high order shear deformable beams resting on a nonlinear Pasternak foundation are investigated in this paper. Equations of motion are derived for the beam which is under subjected combined action of arbitrarily distributed or concentrated transverse loading as well as axial loading. To account for shear deformations, the concept of high order shear deformation is used in comparison with the concept of first order shear deformation theory. Analyses are performed to investigate the effects of the specific stiffness of the foundation on the damaged beam frequencies and displacements with the aim of equalising the response of a damaged and an intact beam. According to that, functions of the foundation stiffness are determined depending on the location and size of the damage as a result of the possibility for the damaged beam to behave like one that is intact. An advanced p-version of the finite element method is developed for geometrically nonlinear vibrations of damaged Reddy–Bickford beams. The present study gives a clear view of the nonlinear dynamical behaviour of four types of beams according to high order shear deformation theory – an intact beam, a damaged beam, a damaged beam on an elastic foundation and intact beam on elastic foundation. The paper also presents the derivation of a new set of two nonlinear partial differential equations where only the transverse and axial displacements figure. The forced nonlinear vibrations problem is solved in the time domain using the Newmark integration method. Free vibration analysis carried out by harmonic balance and the use of continuation methods and backbone curves are constructed.