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In this paper, A flexibility-based method for damage identification of cantilever-type structures is proposed. Using the linear relation between flexibility matrix element and structure parameter, the damage equation involving modal parameter and damage coefficient of each structure element is established firstly. Then, using the free vibration response signal of structure and the time-frequency signal processing tool of Wigner-Ville distribution (WVD) , a novel concept of square root vector (SPV) was introduced and used to substitute the modal shape in the damage equation. Lastly, from the damage coefficient solved by the damage equation, the damage location and extent of Structure element will be identified at one time. This method have helpful application for that the contrast test before and after damage is not require and the unload excitation is easy to implement. Finally two numerical examples were given to verify the effectiveness of this method