Recently, with the development of highway traffic cause and long-span bridges, the vibration performances of highway bridges due to moving vehicle loads have attracted more and more attention. The vibration of a cable-stayed bridge with steel arch tower subjected to vehicle loads was studied in this paper. Firstly, the dynamic model of vehicle and finite element model of bridge were built and the dynamic differential equations of vehicle model and vehicle-bridge coupled system were derived. Then road roughness was simulated using superposition method of trigonometric series. Finally, the bridge responses caused by vehicle loads were calculated numerically. Furthermore, the effects of road roughness, vehicle velocity and bridge damping on bridge responses and their dynamic amplification factors were studied. The results and conclusions of present study are expected to be useful for the future revision of bridge design codes and maintenance and management of bridge.