A finite element analysis model for the spatial vibration of a train, cable-stayed bridge, and T-shaped rigid frame collaborative system was established. The coupled motion equations of the vehicle bridge system were established based on the assumption of wheel rail close contact. The German low interference spectrum was used to generate track irregularity samples as excitation sources, and a (100+2) × The natural vibration characteristics of a 210+100) m cable-stayed bridge and a T-shaped rigid frame collaborative system, as well as the spatial vibration response of four train models passing through the bridge at different speeds, were calculated and analyzed. The results show that when calculating the natural vibration frequency of the bridge, the first and second natural frequencies are both the main beam transverse bending; The collaborative system of cable-stayed bridges and T-shaped rigid frames can improve the vertical stiffness of the entire bridge; When the German ICE3 model passes through a bridge, the vibration response of the vehicle bridge system is the highest, with a vertical deflection to span ratio of about 1/5 440. All indicators of the vehicles on the bridge are within the allowable values specified in Chinese regulations; The horizontal and vertical ride comfort indicators of the vehicle passengers both meet the "good" standard, indicating that the cable-stayed bridge and T-shaped rigid frame cooperation system can better meet the requirements of high-speed driving.