The characteristics of dynamic wheel loads of heavy vehicles running on bridge and roadway are investigated by using three-dimensional model including effect of roadway roughness. To verify a validity of the presented analytical model, comparative studies on dynamic wheel loads with experimental results are carried out. As bridge, vehicle and roadway roughness model, two types of measured roadway roughness, experimentally validated bridge and vehicle idealized as 7DOF and 8DOF are used in analysis. The agreement between analytical and experimental results is satisfactory. From the simulation, it can be seen that the dynamic characteristics of bridge are related to those of vehicle motion. Moreover, the dynamic responses of the bridge and vehicle are fluctuated according to vehicle speeds and vehicle types as well as roadway roughness conditions.