Machine learning (ML)-aided structural health monitoring (SHM) can rapidly evaluate the safety and integrity of the aging infrastructure following an earthquake. The conventional damage features used in ML-based SHM methodologies face the curse of dimensionality. This paper introduces low dimensional, namely, cumulative absolute velocity (CAV)-based features, to enable the use of ML for rapid damage assessment. A computer experiment is performed to identify the appropriate features and the ML algorithm using data from a simulated single-degree-of-freedom system. A comparative analysis of five ML models (logistic regression (LR), ordinal logistic regression (OLR), artificial neural networks with 10 and 100 neurons (ANN10 and ANN100), and support vector machines (SVM)) is performed. Two test sets were used where Set-1 originated from the same distribution as the training set and Set-2 came from a different distribution. The results showed that the combination of the CAV and the relative CAV with respect to the linear response, i.e., RCAV, performed the best among the different feature combinations. Among the ML models, OLR showed good generalization capabilities when compared to SVM and ANN models. Subsequently, OLR is successfully applied to assess the damage of two numerical multi-degree of freedom (MDOF) models and an instrumented building with CAV and RCAV as features. For the MDOF models, the damage state was identified with accuracy ranging from 84% to 97% and the damage location was identified with accuracy ranging from 93% to 97.5%. The features and the OLR models successfully captured the damage information for the instrumented structure as well. The proposed methodology is capable of ensuring rapid decision-making and improving community resiliency.