Post-earthquake safety assessment of buildings and infrastructure poses significant challenges, often relying on time-consuming visual inspections. To expedite this process, safety criteria based on a demand-capacity model are utilized. However, rapid assessment frameworks require accurate estimations of intensity measures (IMs) to estimate seismic demand and assess structural health. Unfortunately, post-earthquake IM values are typically only available at monitored locations equipped with sensors or monitoring systems, limiting broader assessments. Simple spatial interpolation methods, while possible, struggle to consider crucial physical factors such as earthquake magnitude, epicentral distance, and soil type, leading to substantial estimation errors, especially in areas with insufficient or non-uniform seismic station coverage. To address these issues, a novel framework, BN-GMPE, combining a Bayesian network (BN) and a ground motion prediction equation (GMPE), is proposed. BN-GMPE enables inference and prediction under uncertainty, incorporating physical parameters in seismic wave propagation. A further novelty introduced in this work regards the separation of the near and far seismic fields in the updating process to attain a clearer understanding of uncertainty and more accurate IM estimation. In the proposed approach, a GMPE is employed for the estimation, and the bias and standard deviation of the prediction error are updated after any new information is entered into the network. The proposed method is benchmarked against a classic Kriging interpolator technique, considering some recent earthquake shocks in Italy. The proposed BN framework can naturally extend for estimating the probability of failure of various structures in a targeted region, which represents the ultimate aim of this research.