Structural Health Monitoring (SHM) is employed to track and evaluate damage and deterioration during regular operation as well as after extreme events for aerospace, mechanical and civil structures. A complete SHM system incorporates performance metrics, sensing, signal processing, data analysis, transmission and management for decision-making purposes. Damage detection in the context of SHM can be successful by employing a collection of robust and practical damage detection methodologies that can be used to identify, locate and quantify damage or, in general terms, changes in observable behavior. In this study, different damage detection methods are investigated for global condition assessment of structures. First, different parametric and nonparametric approaches are re-visited and further improved for damage detection using vibration data. Modal flexibility, modal curvature and un-scaled flexibility based on the dynamic properties that are obtained using Complex Mode Indicator Function (CMIF) are used as parametric damage features. Second, statistical pattern recognition approaches using time series modeling in conjunction with outlier detection are investigated as a nonparametric damage detection technique. Third, a novel methodology using ARX models (Auto-Regressive models with eXogenous output) is proposed for damage identification. By using this new methodology, it is shown that damage can be detected, located and quantified without the need of external loading information. Next, laboratory studies are conducted on different test structures with a number of different damage scenarios for the evaluation of the techniques in a comparative fashion. Finally, application of the methodologies to real life data is also presented along with the capabilities and limitations of each approach in light of analysis results of the laboratory and real life data.