A structural damage detection method integrating the damage locating vector (DLV) method and ARX model for system identification of frame structures from seismic acceleration responses has been explored in this paper. The concept of the DLV method is to identify the members with zero stress under some specific loading patterns derived from the changes in flexibility matrix of the structure before and after the damage state. Success of the DLV method requires clear identification of the flexibility matrix for at least the first few dominant modes. In this study, a five-storey steel frame with diagonal bracings is considered as the objective building. The damage condition of the structure is simulated by partially removing some of the diagonals. With the flexibility matrices of both the intact and damaged structure identified from seismic structural responses via shaking table tests, results indicate that the damaged locations can be successfully identified by the DLV method if sufficient modes of vibration are taken into account in the realization of the flexibility matrices. The feasibility of using DLV method for damage detection of frame structures using seismic response data is confirmed.