Vibrational characteristics of curved pipe structures are investigated with respect to the change of inside flow velocities. Based upon the Hamilton's principle, the equations of motions are derived, and the finite element equation is constructed to solve the frequency equation for curved pipe structures. When the initial tension is neglected in cured pipes, the natural frequencies are reduced as flow velocity increases, and the rapid decreases of the natural frequencies take place. However, when the initial tension is taken into account, the natural frequencies are not changed with the change of the flow velocity. In free vibrational simulation of pipe systems, it is necessary to calculate the initial force due to the velocity and the pressure of the fluid flow from the equilibrium. The force should be included in the equation of motion of the systems to get more accurate natural frequencies. The mechanical properties like stiffness or the location of pipe support need to be changed to avoid resonance. The natural frequencies are to be isolated from the frequency range of dominant vibration modes. The angles of elbows do not affect the change of the fundamental natural frequency, but affect the change of the third or higher natural frequencies.