The free vibration tests were carried out to investigate the dynamic properties of steel drive-in storage racks through initial displacement method. The influential factors such as the number of bays, bracing configuration and goods pallets, were taken into consideration. The test results indicate that tested racks vibrate according to first mode shape. Top plan bracings have no influence on the natural frequencies and damping ratios of racks, but adding back spine bracings can change the dynamic properties of racks. The goods loaded in drive-in racks make the rack natural frequencies become smaller. These tests are numerically simulated using finite element method, and calculated results demonstrate the reliability of the simulation for rack dynamic properties. For estimating the fundamental frequencies of drive-in racks without back spine bracings, simplified calculation models with 2D beam elements are proposed.