The existence of residual stresses caused by the welding process is an important reason of cracking and distortion in welded metal structures that may affect the fatigue life and dimensional stability significantly. Heat treatment is one of the traditional methods to relieve the residual stresses. But it is often limited by the manufacturing condition and the size of the structures. In this paper a procedure called vibratory stress relief (VSR) is discussed. VSR is a process to reduce and re-distribute the internal residual stresses of welded structures by means of post-weld mechanical vibration. The effectiveness of VSR on the residual stresses of welded structures, including the drums of hoist machine and thick stainless steel plate are investigated. Parameters of VSR procedure are described in the paper. Residual stresses on weld bead are measured before and after VSR treatment by hole-drilling method and about 30%~50% reduction of residual stresses are observed. The results show that VSR process can reduce the residual stress both middle carbon steel (Q345) and stainless steel (304L) welded structures effectively.