Potential manufacturing defects and dynamic loads in the service could introduce cracks in the bogie frame. These cracks, in turn, can vary the stiffness matrix of system, thereby the variations in dynamic behaviors of bogie frame. This study thus investigated dynamic behaviors of a bogie frame in the presence of fatigue crack through a field test and a numerical model. In the test, the axle box vibrations were measured, which serves as the excitation of the numerical model of bogie frame. Subsequently, a rigid/flexible coupled dynamic model of vehicle was developed, considering the flexibility of bogie frame. A methodology, based on the equivalent spring and contact elements, was developed to model fatigue cracks in the dynamic model. This enables us to simulate coupling behaviors between the vibration and the crack propagation. Upon the proposed model, the evolution of dynamic behaviors of bogie frame considering the crack propagation process was studied under the services loading. The results show that the cracks significantly alter the vibration behavior of the bogie frame, leading to a noticeable response in the high-frequency components. This facilitates further research on crack damage detection and localization. The dynamic stress intensity factor (DSIF) obtained through displacement extrapolation method accurately describes the dynamic propagation behavior of crack tips. This helps us understand the crack propagation models better, thereby the estimation of residual fatigue life of bogie frame.