Federated learning (FL) is a machine learning paradigm where the clients possess decentralized training data and the central server handles aggregation and scheduling. Typically, FL algorithms involve clients training their local models using stochastic gradient descent (SGD), which carries drawbacks such as slow convergence and being prone to getting stuck in suboptimal solutions. In this work, we propose a message passing based Bayesian federated learning (BFL) framework to avoid these drawbacks.Specifically, we formulate the problem of deep neural network (DNN) learning and compression and as a sparse Bayesian inference problem, in which group sparse prior is employed to achieve structured model compression. Then, we propose an efficient BFL algorithm called EMTDAMP, where expectation maximization (EM) and turbo deep approximate message passing (TDAMP) are combined to achieve distributed learning and compression. The central server aggregates local posterior distributions to update global posterior distributions and update hyperparameters based on EM to accelerate convergence. The clients perform TDAMP to achieve efficient approximate message passing over DNN with joint prior distribution. We detail the application of EMTDAMP to Boston housing price prediction and handwriting recognition, and present extensive numerical results to demonstrate the advantages of EMTDAMP.