Abstract We study the non-linear dynamics of a multimode optomechanical system constituted of a driven high-finesse Fabry–Pérot cavity containing two vibrating dielectric membranes. The analytical study allows to derive a full and consistent description of the displacement detection by a probe beam in the non-linear regime, enabling the faithful detection of membrane displacements well above the usual sensing limit corresponding to the cavity linewidth. In the weak driving regime where the system is in a pre-synchronized situation, the unexcited oscillator has a small, synchronized component at the frequency of the excited one; both large and small amplitude resonator motions are transduced in a nontrivial way by the non-linear response of the optical probe beam. We find perfect agreement between the experimental results, the numerical simulations, and an analytical approach based on slowly-varying amplitude equations.