Continuous monitoring for damage detection in structural assessment comprises implementation of low cost equipment and efficient algorithms. This work describes the stages involved in the design of a methodology with high feasibility to be used in continuous damage assessment. Specifically, an algorithm based on a data-driven approach by using principal component analysis and pre-processing acquired signals by means of cross -correlation functions, is discussed. A carbon steel pipe section and a laboratory tower were used as test structures in order to demonstrate the feasibility of the methodology to detect abrupt changes in the structural response when damages occur. Two types of damage cases are studied: crack and leak for each structure, respectively. Experimental results show that the methodology is promising in the continuous monitoring of real structures.