An inelastic dynamic analysis method was developed for reinforced concrete frame structures. The analytical model was able to account for stiffness characteristics related to cracking of the concrete, yielding and strain hardening of the reinforcement, bond slip of tensile reinforcement in a joint core, and stiffness degradation due to load reversals. The location of point of contraflexure in a member was taken into consideration to account for the distribution of inelastic deformation. The analysis method was tested by comparing calculated response waveforms with observed response waveforms of a small-scale three-story one-bay reinforced concrete frame structure, which was subjected to an intense base motion on the University of Illinois Earthquake Simulator. The observed waveforms at large amplitudes were favorably simulated by the analytical model based on the material properties and geometry of the test structure.