This paper presents an extended cross modal strain energy change method to estimate the severity of damage associated with limited modal data in beam-like structures. This method takes in account the correlation between the analytical modal data and the measured incomplete modal data. A procedure was proposed and the analytical elemental stiffness of the damaged element after it is localized is included in quantification of the measured single damage extent. A three-dimensional numerical beam model with different damage cases is used to simulate the CMSE method application and to getting the bending displacements of the damaged element. An experimental modal analysis (EMA) on a cantilever beam with and without crack was carried out to evaluate the effectiveness of the extended CMSE method. The severity magnitude of the damage was predicted within an acceptable error range through the using validation process. Results reveal that the proposed damage estimation method successfully evaluates single damage severity in beam like structure and can be useful in maintenance technology and structural health monitoring system.