The analysis of dynamic characteristics of damage structures is an important basis for non-destructive testing. However, there are few literatures concerning the study of dynamic characteristics of rotating beams with crack. In this paper, the transverse vibration characteristics of rotating beams with crack are investigated. Firstly, the crack effect was simulated using a torsion spring, and the lumped crack model of the beam was established. Then the Frobenius method was used to solve the vibration equation, and the series solution of the equation was obtained. The natural frequency of the damage structure was calculated, and the first two natural frequency variations of beams under different damage degree and rotating speeds was analyzed. Numerical simulation results verified the effectiveness of the proposed method. At the same time, it is found that the change of rotating speed and damage degree do not affect the natural frequency of the beam independently, there is a coupling mechanism between the two sides.