In this study, a damage detection method that uses sensitivity-based finite (FE) element model updating with the natural frequency and zero frequency was proposed. The stiffness matrix for a structure was modified using the sensitivity-based FE model updating method. A sensitivity analysis was used to update the FE model, and the natural frequencies and zero frequencies were considered as target parameters to supplement the information on the vibration characteristics. The locations and values of the damages were estimated from the modified stiffness matrix. Several numerical examples were considered to verify the performance of the proposed method.