Macro Fiber Composite (MFC), as a widely used actuator for active structural control, has attracted considerable attention in vibration control applications. A thorough investigation of the vibration characteristics of structures bonded with MFC is of great significance for the development of accurate active control strategies for such systems. In this study, an electromechanically coupled dynamic model of a clamped beam bonded with MFC is established based on Hamilton’s principle. The theoretical model is discretized using the Galerkin method, through which the inherent vibration characteristics of the MFC-bonded beam are obtained. The validity of the proposed model is verified by finite element simulations and impact hammer modal experiments. Furthermore, the quantitative influences of the MFC relative length, relative width, thickness, and bonding position on the fundamental frequency of the beam are systematically investigated. The results indicate that the applied voltage has a significant effect on the fundamental frequency of a clamped beam with MFC bonded at the mid-span. In addition, it is found that when the relative bonding position is approximately 0.066, the influence of the MFC thickness on the fundamental frequency of the structure becomes negligible. The findings of this study provide a theoretical basis for the design and tuning of MFC-based active vibration controllers.