This paper presents a powerful method for evaluating the constitutive properties of composite laminates through a mixed numerical–experimental identification procedure based on both the extracted mode shapes and the corresponding natural frequencies of the structure. The modal quantities are measured with a precise contact-free experimental technique and extracted numerically with an accurate shell element derived from the higher order shear deformation theory. The elastic properties are estimated with a nonlinear least squares algorithm applied to modal identification criteria. With this novel approach of combining frequency and mode based error norms, the proposed identification method allows an accurate identification of both in-plane and transverse elastic properties with a single non-destructive test. The effectiveness of the procedure is highlighted by test cases on moderately thick to thick plates.