The utility model relates to a bridge inspection vehicle, the technical scheme of which is as follows: the bridge inspection vehicle comprises a vehicle body, a movable truss platform, a truss system and a detector, wherein the movable truss platform is arranged on the vehicle body; the truss system is arranged on the movable truss platform and comprises a telescopic truss arm and a driving device; and the detector is internally provided with an image pick-up and measurement system which is arranged at the front end of the truss arm. The inspection vehicle can fast realize the inspection to appearance disease of the bridge beam under the bridge which crosses over rivers and is uneasy to arrive, changes the existing working mode that the bridge inspection vehicle or a ladder truck is used for delivering people to be close to the members for inspection.