In order to overcome the problem that the comfort evaluation results of the footbridge design specification are too conservative. Firstly, randomness of parameters in walking force was taken into account to construct random walk model, and the cumulative probability distribution of the maximum acceleration of the structure and pedestrian feelings were obtained through time history analyses. The reduction coefficient of vibration response was defined by studying the correlation between the vibration response of footbridge and the vibration response of pedestrian feelings. Meanwhile, the maximum response of pedestrian feelings was recommended as the comfort evaluation index. Secondly, the annoyance model was established based on the improved membership function, and the annoyance curves under different use environments were given. Finally, the vibration comfort evaluation method was proposed based on pedestrian sense of reality and improved annoyance model, and the comfort evaluation of a pedestrian overpass in Jingzhou City was carried out. The results show that the peak acceleration has a significant correlation with the maximum vibration response of pedestrian feelings, and the corresponding relationship can be established according to the reduction coefficient of vibration response. The maximum error between the fitting curve of annoyance and the calculation result curve is less than 3%, and the influence of variation coefficient is not more than 1%. Compared with peak acceleration, the calculated value of annoyance considering pedestrian feelings is closer to the experimental result. The results have reference significance for quantitative calculation of footbridge vibration comfort.