With the rapid development of study on steel-concrete composite structure, the vibration response between bridge and vehicle under vehicle loads has been always attracted much attention. The performance between bridge and vehicle varies a lot with different section profiles. In this paper, the bridge and vehicle are considered as one interaction system for simulating space dynamic response for vehicle passing through the bridge. The calculation model of steel-concrete box girder with two boxes with double chamber and single box with double chamber are established respectively, their free vibration properties are calculated, and the dynamic properties are analyzed and compared. The coupling responses under different vehicle loads are discussed. According to the analysis and comparison, it can be found that flexural rigidity with two boxes with double chamber is smaller, when single vehicle and double vehicles passing the bridge the Vertical maximum dynamic deflection are 18.4% and 14.7% larger than that with single box with double chamber; the maximum accelerations are 2.69 and 2.3 times as much as that with single box with double chamber respectively, has low sensitivity on bridge-vehicle response. Through the comparison some helpful conclusions are given as reference of such bridges.