The dynamic response of frame-type structures with hysteretic damping at the structural joints, resulting from slipping and nonlinear flexible connections, is investigated in this paper. The slipping at a structural joint is represented by the modified Coulomb joint model. The behavior of a nonlinear flexible connection is modeled by the Ramberg-Osgood function. A simple computational model for the dynamic analysis of frames with the hysteretic damping is presented here. Several numerical examples are included, to illustrate the usefulness of the approach in analyzing large space structures.