In order to analyze the stability of the bridge above the goaf, the disturbance influence of goaf residual deformation on the bridge is studied. Firstly, an equivalent numerical simulation method of goaf residual deformation evolution process is studied by quantitative analysis the sensitivity of residual subsidence to the rock parameters using the OAT (one-variable-at-a-time). Then, the collaborative deformation of ground, pile, and bridge floor is studied under the condition of a simply-supported beam bridge above the goaf center. Finally, the mechanism of collaborative deformation of ground, pile, and bridge floor is revealed. The results show that the goaf residual deformation process can be obtained by weakening the elastic modulus of fractured rock in the caving zone. At the final residual deformation stage, the subsidence ratio of ground to pile is about 10, and the subsidence ratio of pile to bridge floor is about 2, while the ground horizontal movement ratio of ground to pile is about 7, and the bridge floor horizontal movement can be ignored. The bridge floor is always in the positive curvature influence zone, and the pile has an inhibitory effect on the curvature deformation of the bridge floor. The compression deformation occurs between the piles locations, while the tensile deformation occurs at the pile location. The evolution of negative frictional resistance derived from goaf residual deformation is the main reason for the change in the collaborative deformation law among the ground, pile and bridge floor. This research can provide scientific support and theoretical basis for the design, construction, and protection of the bridge above the goaf center, and can also provide reference for the stability evaluation of bridge above goaf under other conditions.