The invention provides an intrinsic frequency measuring method which can be widely used for measuring the intrinsic frequency of structures which are formed by permeability magnetic materials such as pipelines, anchor rods, steel wire ropes, stay cables, plates and tanks or non-permeability magnetic materials. According to the intrinsic frequency measuring method, contact type or non-contact type excitation and detection of a vibration signal are achieved by means of a sensor according to the magnetostrictive effect and the inverse magnetostrictive effect, so that the Fourier spectrum distribution curve corresponding to a system frequency response function H[a],[b] (f) is obtained, and the peak point of the Fourier spectrum distribution curve corresponding to the system frequency response function H[a],[b] (f) is determined, so that the intrinsic frequency of a system is obtained, wherein a is a measure point, and b is an excitation point. According to the intrinsic frequency measuring method, contact measurement is available, measurement of the lift-off distance between a large sensor and an object to be measured is also available, weak vibration signals can be detected, and the intrinsic frequency measuring method has a broad application prospect in intrinsic frequency measurement.