In order to solve the problem of using vibration acceleration as the sole criterion for evaluating the comfort level of pedestrian bridges, firstly, based on Stevens" power function law, vibration and noise membership function were proposed and compared with traditional calculation formulas. Secondly, models of annoyance rate based on an improved membership function were established. The curves of vibration annoyance rate, noise annoyance rate, and the joint vibration-noise annoyance rate surface were provided for various usage scenarios. The impact of the coefficient of variation on the annoyance rate was analyzed. Finally, a reduction factor considering the "masking effect" was defined, and a pedestrian comfort evaluation method based on the joint annoyance rate model and corresponding comprehensive annoyance rate curve was proposed. Taking a pedestrian bridge in Jingzhou as an example, comfort evaluation was carried out. The results show that the improved membership function is closer to the experimental values; the maximum errors between the fitted values and calculated values of the vibration annoyance rate curve, noise annoyance rate curve, and vibration-noise joint annoyance rate surface are 1.5%, 1.8%, and 2.2%, respectively; the error of the vibration-noise joint annoyance rate surface is greatly affected by noise level; the influence of the vibration annoyance rate curve on the coefficient of variation can be neglected, while the noise annoyance rate curve and vibration-noise joint annoyance rate surface need to adjust the value of the coefficient of variation according to the actual situation; the pedestrian annoyance rate level mainly ranges from C and D levels, and the calculated value of annoyance rate is close to the measured value, with a maximum error of 8.63%; such results have reference significance for the development of more refined quantitative evaluation of pedestrian bridge comfort.