Vibration measurement is of great significance for structural health monitoring (SHM). The emerging microwave vibration measurement technology has distinct advantages over the laser and vision-based approaches, such as long-range, low-power consumption and environmental adaptability. However, it has critical limitations on multi-scale and full-field vibration measurement, especially for SHM of large structures. To overcome these drawbacks, in this paper, we propose mmSHM, a mmWave radar-based vibration measurement approach for SHM. An adaptive segmented phase demodulation (ASPD) method is developed to effectively quantify the displacement variation, allowing accurate displacement measurement spanning from µm to dm scales. What’s more, to eliminate the coupling and aliasing interferences from adjacent targets in full field of view, an improved interferometric phase evolution tracking method is presented to extract the vibration displacement from the range-angle joint dimensions. To be specific, the basic principle of vibration measurement using linear frequency-modulated continuous wave (LFMCW) radar is firstly depicted. Then, the detailed procedures of multi-scale and full-field vibration measurement method are illustrated. Finally, with the built prototype of mmSHM, experimental results under different scenarios show that our method can achieve multi-scale and full-field synchronous vibration measurement with µm-level accuracy. The proposed method can be expected to provide a promising approach for contactless vibration measurement in SHM.