This paper investigates the vibration characteristics of multi-span beams resting on an elastic foundation and subjected to axial forces. A comprehensive analytical expression of the dynamic response of multi-span beams on an elastic foundation that is developed to address various boundary conditions. The vibration equation is derived by employing Newton's second law. By Laplace transformations and the Green's function method, the solution of this governing equation can be obtained. Subsequently, a unified description is implemented for distinct types of boundary conditions using matrix representations. The correctness is verified through reference results and finite element methods (FEM). The effects of different parameters such as support stiffness, foundation elastic and shear layer stiffness, and axial force on the vibration characteristics are analyzed. This study demonstrates two findings: First, there are two thresholds for support stiffness, and the stiffness value is divided into three intervals. In the same interval, multi-span beams show the same properties. Second, for a rigidly supported multi-span beam, the critical axial force with a natural frequency of zero is just the corresponding Euler's buckling load; for elastically supported multi-span beams, the critical axial force falls between the Euler's buckling load corresponding to single-span and multi-span beams.