Fragility analysis is an effective tool that is frequently used for seismic risk assessment of bridges. There are three different approaches to derive a fragility curve: experimental, empirical and analytical. Both experimental and empirical methods to derive fragility curve are based on past earthquake reports and expert opinions which are not suitable for all bridges. Therefore, analytical fragility analysis becomes important. Nonlinear time history analysis is commonly used which is the most reliable method for determining probabilistic demand models. In this study, to determine the probabilistic demand models of bridges, time history analyses were performed considering both material and geometrical nonlinearities. Serviceability limit states for three different service velocities were considered as a performance goal. Also, support displacements, component yielding and collapse limits were taken into account. Both serviceability and component fragility were derived by using maximum likely hood methods. Finally, the seismic performance and critical members of the bridge were probabilistically determined and clearly presented.