This article presents a nonlinear displacement based finite elements model to study and analyze the nonlinear dynamic response of flexible double wishbone structural vehicle suspension system considering damping effect which was not previ- ously discussed elsewhere. Due to large deflection and moderate rotation encountered during passing over road bumps, the kinematic nonlinearity is included through von Kármán strain component. Elastic undamped as well as viscous and viscoe- lastic damping mechanism are considered and compared. Considering the viscoelastic damping mechanism, the viscoelastic damping mechanism is modeled based on the integral constitutive form, which is recast into an incremental form suitable for finite element implementation. Additionally, the revolute joint element is adopted to incorporate the joint flexibility in the double wishbone system. The plane frame element is adopted to model the suspension links by using Timoshenko beam theory. The developed nonlinear finite element equations of motion are solved through the incremental iterative Newmark technique. The developed procedure is verified by comparing the obtained results with analytical solution and excellent agreement is observed. The applicability of the developed procedure is demonstrated by conducting parametric studies to show the effects of the road irregularities profiles, the vehicle speed, and the material damping coefficients on the nonlin- ear vibrations response of the double wishbone suspension systems. The obtained results are supportive in the design and manufacturing processes of these structural systems.