Based on convolution-type constitutive equations for linear viscoelastic materials with damage and the hypotheses of Timoshenko beams with large deflections, the nonlinear equations governing dynamical behavior of Timoshenko beams with damage on viscoelastic foundation were firstly derived. By using the Galerkin method in spatial domain, the nonlinear integro-partial differential equations were transformed into a set of integro-ordinary differential equations. The numerical methods in nonlinear dynamical systems, such as the phase-trajectory diagram, Poincare section and bifurcation figure, were used to solve the simplified systems of equations. It could be seen that simplified dynamical systems possess the plenty of nonlinear dynamical properties. The influence of load and material parameters on the dynamic behavior of nonlinear system were investigated in detail.