The structure optimization method for heavy truck propeller shaft bracket is presented in this research. A model including propeller shaft, mount, bracket and frame is established based on finite element analysis and rigid-flexible coupling analysis. Under the unbalanced excitation, the dynamic response of the propeller shaft and dynamic stress on the bracket are presented. The effects of bracket structure mode on the frequency response and stress on the bracket are studied. As an engineering example, the optimization design of a heavy truck propeller shaft bracket is presented and a final experimental verification is validated by a real vehicle test.