In this paper, the dynamics of rolling bearing with localized defects of the outer ring and rolling element are investigated. In order to study the nonlinear dynamical behaviors of the rolling bearing precisely, a novel dynamic model of the rolling bearing is established based on the Lagrangian approach. By setting 0.2 mm, 0.4 mm and 0.6 mm local defects on the outer ring and rolling element of bearing respectively, the results demonstrate that the amplitude of the rolling bearing is more intense as the local defect size increases, and the acceleration amplitude fluctuation is more significant than the velocity. In addition, in the case of the same defect size, the vibration of the rolling element defect is more intense than the vibration response caused by the outer ring defect
