The linear free vibration of free-clamped coaxial cylinders partially filled with incompressible, inviscid liquid in the annular gap is investigated theoretically on the basis of the Donnell-type equations for cylinders and the velocity potential theory for liquid motion. The problem is solved by the modified Galerkin method. The initial axisymmetric deformation of the shell due to the static liquid pressure as well as the boundary condition on the free liquid surface are fully taken into consideration. It is found that the static liquid pressure and the liquid surface condition have a significant effect on the natural frequency, and that the interactive effect of the coaxial cylinders becomes small and the mode shape changes with an increase in the wave number and the annular gap.