Concrete bridge crack detection is critical to guaranteeing transportation safety. The introduction of deep learning technology makes it possible to automatically and accurately detect cracks in bridges. We proposed an end-to-end crack detection model based on the convolutional neural network (CNN), taking the advantage of atrous convolution, Atrous Spatial Pyramid Pooling (ASPP) module and depthwise separable convolution. The atrous convolution obtains a larger receptive field without reducing the resolution. The ASPP module enables the network to extract multi-scale context information, while the depthwise separable convolution reduces computational complexity. The proposed model achieved a detection accuracy of 96.37% without pre-training. Experiments showed that, compared with traditional classification models, the proposed model has a better performance. Besides, the proposed model can be embedded in any convolutional network as an effective feature extraction structure.