The invention relates to a statistical model based bridge health monitoring data wavelet denoising method. The method includes the following steps: firstly, establishing a bridge monitoring signal model; secondly, subjecting an obtained structure monitoring signal to wavelet decomposition to obtain two frequency domains, namely a low frequency domain A1 and a high frequency domain D1, continuing performing wavelet decomposition on the low frequency domain A1 to obtain two frequency domains, namely a low frequency domain A2 and a high frequency domain D2, and repeating the step till maximum layers are decomposed; thirdly, subjecting the actual monitoring signal to wavelet decomposition and establishing a statistical model of wavelet decomposition coefficients; fourthly, deducing a wavelet threshold contracting function and subjecting the wavelet coefficients of a high-frequency part (Dj,j=1,2,...J) of each layer to thresholding method contracting processing; fifthly, performing wavelet inverse transformation processing to obtain denoised bridge structure monitoring data. Denoising is performed effectively, quality of the monitoring data is improved, and signal smoothness is improved.