The crankshaft torsional vibration angle is measured from a running engine, using a toothed wheel attached to the front of crankshaft. The torsional vibration stress near the node of torsional vibration is also measured by using strain gages mounted on the journal of crankshaft in a running engine. A theoretical analysis of torsional vibration of crankshaft is performed with a simplified model subject to the excitation torque. The comparison between the theoretical and experimental results shows that the idealized approach is applicable to predict the torsional vibration of crankshaft. It is found that the torsional vibration of crankshaft is mainly dependent upon the characteristics of rubber damper, i.e., the stiffness and damping coefficient of rubber, and the inertia of damper ring. It is recognized that the rubber damper should be carefully selected considering the variation in the dynamic characteristics of rubber.