A new approach to build geometrically-nonlinear dynamic aeroelastic models is proposed that only uses information typically available in linear aeroelastic analyses, namely a generic (linear) finite-element model and frequency-domain aerodynamic influence coefficient matrices (AICs). Good computational efficiency is achieved through a two-step process: Firstly, a geometric reduction of the structure is carried out through static or dynamic condensation on nodes along the main load paths of the vehicle. Secondly, manipulation of the resulting linear normal modes (LNMs), the condensed stiffness and mass matrices, and the nodal coordinates provides the modal coefficients of the intrinsic beam equations along these load paths. This preserves the LNMs of the original problem and augments them with the geometrically nonlinear terms of beam theory. The structural description is in material coordinates and modal AICs are thus naturally included as follower forces. Numerical examples include cantilever wings built using detailed models, for which effects such as nonlinear aeroelastic equilibrium, nonlinear dynamics and structural-driven limit-cycle oscillations are shown. Results demonstrate the ability of the methodology to seamlessly and efficiently incorporate critical nonlinear effects to (linear) arbitrarily large aeroelastic models of high aspect ratio wings.