This dataset contains the sensor data collected during a geotechnical centrifuge experimental programme conducted at Cambridge University in May 2019. Please refer to the following documents for the materials and methods related to this data: Kariyawasam, K.D., Middleton, C.R., Madabhushi, G. et al. Assessment of bridge natural frequency as an indicator of scour using centrifuge modelling. J Civil Struct Health Monit 10, 861–881 (2020). https://doi.org/10.1007/s13349-020-00420-5 Kariyawasam KKGKD (2020) A vibration-based bridge scour monitoring technique. University of Cambridge, UKhttps://doi.org/10.17863/CAM.58843 The datasets contain data collected from four different bridge models inside a geotechnical centrifuge and these four models have been named as Model 1-4. The sensor data collected for each of the four models are in four folders named as "Model 1", "Model 2", "Model 3" and "Model 4". Each of these folders have several .ASC files and one .MAT file. Each .ASC file contains the raw data collected for one centrifuge test whereas each .MAT file contains the processed data for all the centrifuge tests of a given model (Model 1-4). The .ASC file labels have the following codes: "T1" for example refers to "centrifuge test (flight) 1"; "0 scour" refers to "0 mm of scour depth"; "60g" refers to the centripetal acceleration equivalent to "60 times the normal gravity". The .ASC file contains several columns, the first column is time and the rest of the columns refer to various sensors (accelerometers, load cells). The details of the sensors (sensor type, location, gain) are provided in the documents listed above and also in the documents in the "Centrifuge test related files" folder. The content in the .ASC files were processed using matlab and some of the matlab codes used are provided in "Matlab codes" folder . For more information or clarifications please contact Dr Kasun Kariyawasam via email (civilkasun@gmail.com, kdk26@cantab.ac.uk). This research was conducted by Dr Kasun Kariyawasam under the supervision of Prof Campbell Middleton, in collaboration with Prof Gopal Madabhushi, Dr Stuart Haigh & Dr James P. Talbot at University of Cambridge.