Collision characteristic is observed at joints of the structures. A practical estimation method of the first excursion probability of such structures subjected to random excitations such as seismic motions is proposed. First, the first excursion probability of structures with collision is obtained from theoretical method. Next, when the tolerance level is normalized by the expected value of the maximum response of the structure without and with collision, the first excursion probability can be estimated independent of natural period and clearance, respectively.