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Abstract In this paper, we propose an approach to derive the brane cosmology in the D-dimensional braneworld model. We generalize the “bulk-based” approach by treating the 4-brane as a small perturbation to the D-dimensional spherically symmetric spacetime. The linear corrections from a static 4-brane to the metric are derived from the linearized perturbation equations, while the nonlinear corrections are found by a parameterization of the perturbed metric solution. We use a time-dependent generalization to give the nonlinearly perturbed metric solution for the dynamical braneworld model, and analyze the stability of the model under the motion of the 4-brane. Through the fine tuning, we can recover the Friedmann equations for the universe with and without an effective cosmological constant. More importantly, the de Sitter expansion of the universe can be reproduced.