Summary: A formulation is presented for steady-state dynamic responses of rotating bending-torsion coupled composite Timoshenko beams (CTBs) subjected to distributed and/or concentrated harmonic loadings. The separation of cross section’s mass center from its shear center and the introduced coupled rigidity of composite material lead to the bending-torsion coupled vibration of the beams. Considering those two coupling factors and based on Hamilton’s principle, three partial differential non-homogeneous governing equations of vibration with arbitrary boundary conditions are formulated in terms of the flexural translation, torsional rotation and angle rotation of cross section of the beams. The parameters for the damping, axial load, shear deformation, rotation speed, hub radius and so forth are incorporated into those equations of motion. Subsequently, the Green’s function element method (GFEM) is developed to solve these equations in matrix form, and the analytical Green’s functions of the beams are given in terms of piecewise functions. Using the superposition principle, the explicit expressions of dynamic responses of the beams under various harmonic loadings are obtained. The present solving procedure for Timoshenko beams can be degenerated to deal with for Rayleigh and Euler beams by specifying the values of shear rigidity and rotational inertia. Cantilevers with bending-torsion coupled vibration are given as examples to verify the present theory and to illustrate the use of the present formulation. The influences of rotation speed, bending-torsion couplings and damping on the natural frequencies and/or shape functions of the beams are performed. The steady-state responses of the beam subjected to external harmonic excitation are given through numerical simulations. Remarkably, the symmetric property of the Green’s functions is maintained for rotating bending-torsion coupled CTBs, but there will be a slight deviation in the numerical calculations.