This study aims to construct the FE models using shell elements for thin-walled steel structural members from point cloud data for static and dynamic analysis of existing bridges. The basic verification was conducted using I-beam members with stiffeners, which are commonly used in steel girder bridges, and point cloud data was obtained by handy scanner. The proposed method utilizes a “template model” based on the general geometry of the girder members to segment the point clouds into individual planes and to estimate the neutral planes. Furthermore, the histogram of point cloud coordinates was used to identify the member edges and to construct the shell model geometry. The validity of the FE model was evaluated by comparing static elastic analysis and dynamic analysis outputs between the FE models constructed from design documents. It was found that global responses, such as stress distribution and maximum displacement, showed good agreement, while localized responses, such as maximum Mises stress value and higher-order mode, exhibited moderate errors. These results show that the template model method was effective for modeling from point clouds and was expected to be applicable to FE modeling of existing bridges.