In this paper, size-dependent free vibration analysis of curved functionally graded nanobeams embedded in Winkler–Pasternak elastic medium is carried out via an analytical solution method. Three kinds of boundary condition namely, simply supported-simply supported, simply supported-clamped and clamped-clamped are investigated. Material properties of curved functionally graded beam change in thickness direction according to the Mori–Tanaka model. Nonlocal strain gradient elasticity theory is adopted to capture the size effects in which the stress is considered for not only the nonlocal stress field but also the strain gradients stress field. Nonlocal governing equations of curved functionally graded nanobeam are obtained from Hamilton’s principle based on Euler–Bernoulli beam model. Finally, the influences of length scale parameter, nonlocal parameter, opening angle, elastic medium, material composition, slenderness ratio and boundary conditions on the vibrational characteristics of nanosize curved functionally graded beams are explored.