A finite element numerical procedure for the analysis of torsional behavior of cracked reinforced concrete pile is proposed. A trilinear torque-twist model is used to represent the torsional response of the reinforced concrete pile element with maximum torsional stresses. The remaining part of the pile is modeled as a linear elastic torsional behavior. The soil torsional resistance along pile shaft is represented by the nonlinear springs, modeled as the hyperbolic function, acting at the midpoint of each pile element. The proposed hyperbolic function is compared against available experimental results and showed to be very satisfactorily. Both linear and nonlinear analyses were performed and showed the importance of taking into account the changing of pile stiffness once concrete has cracked.