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The structural dynamic response reconstruction of large-scale civil engineering structures using traditional methods results in heavy computational burden with low efficiency. To improve efficiency, a novel time-domain response reconstruction method based on model condensation and modal decomposition is proposed in this paper. The finite element model of the target structure is transformed and condensed. The system matrices of the condensed model have lower dimensionality than those of the original finite element model. A checking procedure based on the modal assurance criterion is developed to ensure the accuracy of the condensed system. Measured dynamic responses are decomposed to time-domain modal responses at measured degrees of freedom (DOFs) using band-pass filters. The mode shape matrix of the condensed model is used to calculate the modal responses at the unmeasured DOFs. Following modal superposition and coordinate transformation, the dynamic responses at unmeasured DOFs are reconstructed without knowledge of the excitation. The accuracy and efficiency of the proposed methodology are verified in a numerical case study of a three-dimensional building frame model and an experimental case study of a two-story steel frame under laboratory conditions. In contrast with the numerical case study, the effects of modeling error and measurement noise are considered in the experiment verification. The results show the outstanding performance of the proposed methodology when compared with a traditional response reconstruction method. [ABSTRACT FROM AUTHOR]