Displacement response of structure is valuable information for monitoring an structure integrity. However, measuring the displacement response is difficult than other structure responses, such as acceleration, strain, and angle. So, previous researches have focused on displacement estimation technique using measured acceleration. The displacement estimation methods also have weakness that filtering noise of measured data is so complicate. The estimated displacement might be diverged because of the measuring noise. Because of these reasons, this study focused on rotation angle. This study developed a algorithm for estimating displacement and structure deformed shape using rotation angle.