In engineering applications, almost all structures are composed of substructures and parts that are joined together with a multitude of different connections (e.g., bolted, riveted, welded, etc.). It is known that the added flexibility introduced by the joint to a structure significantly affects its dynamic behavior. The need for accurate prediction of the dynamic characteristics of complex structures has led to extensive research on the identification of joint dynamic characteristics. In the present work, a structural joint have been modeled as a pair of translational and rotational springs and the frequency equation of the overall system has been developed using sub-structure synthesis. It is shown that by using the first few natural frequencies of the system, one can estimate the unknown stiffness parameters. The estimation procedure has been developed first for a two parameter joint model and then for a three parameter model in which cross coupling terms are also included. The validity of the proposed method is demonstrated numerically and experimentally.