Self-pierce riveting (SPR) is a new high-speed mechanical fastening technique which is suitable for point joining dissimilar materials, as well as coated and pre-painted materials. In this study, an experimental measurement technique was provided for the prediction of the free vibration behavior of single-lap cantilevered SPR beams. The dynamic test software and the data acquisition hardware were used in the experimental measurement of the dynamic response of the single-lap cantilevered SPR Beams. The frequency response functions of the SPR beams of different rivet number were measured and compared. The main goal of the paper is to provide a basis for further research on vibration based non-destructive damage detection in single-lap cantilevered SPR beams.