Suspension systems are essential in vehicles to provide both passenger comfort and vibra-tion isolation from road bumps. It is necessary to develop a comprehensive numerical model to study and analyze the dynamic behavior of these systems. This study aims to introduce a comprehensive finite element model to investigate the dynamic behavior of double wishbone vehicle suspension system considering links flexibility. Plane frame element based on Timoshenko beam theory (TBT) is adopted to model the suspension links. Flexibility of the joints connecting the suspension links are modeled using the revo-lute joint element. Viscoelastic, viscous and proportional damping models are considered to simulate the damping effect. Newmark technique, as unconditionally stable technique is adopted to solve the finite element dynamic equation of motion. The developed pro-cedure is verified by comparing the obtained results with the available analytical and numerical results and an excellent agreement is found. To demonstrate the effectiveness of the developed model, parametric studies are conducted to show the effects of the road bump profiles, the vehicle speed, and the material damping on the dynamic behavior of suspension system. The obtained results are supportive in the design and manufacturing processes of such suspension systems