Recent experiments have shown the applicability of single-layer graphene sheets (SLGSs) as electromechanical resonators. Existing theoretical models, based on linear continuum or atomistic methods, are limited to the study of linear vibrations of SLGSs. Here we introduce a hybrid atomistic-structural element which is capable of modelling nonlinear behaviour of graphene sheets. This hybrid element is based on an empirical inter-atomic potential function and can model the nonlinear dynamic response of SLGSs. Using this element, nonlinear vibrational analysis of SLGSs is performed. It is shown that the nonlinear vibrational analysis of SLGSs predicts significantly higher fundamental frequencies. Also, the effects of vibration amplitude as well as the geometry of the SLGSs on the fundamental frequency are studied and predictive relations between the fundamental frequency, the SLGS length and the non-dimensional vibration amplitude are presented. The results are verified with experimental observations and are in remarkable agreement.