A tap-scan bridge damage detection system comprises: a mobile cart (1) capable of moving on a to-be-detected bridge; a tap subsystem (2) mounted on the mobile cart (1) and used for applying a tap load to the to-be-detected bridge; a signal acquisition subsystem (3) mounted on the mobile cart and used for acquiring a response signal transferred from the to-be-detected bridge to the mobile cart; and a signal processing apparatus (4) connected to the signal acquisition subsystem (3) and used for receiving and processing a signal acquired by the signal acquisition subsystem (3), and outputting the bridge damage information processed result. The tap-scan bridge damage detection system can detect bridge damage in a simple, convenient, efficient and accurate manner.