A finite element program for elasto-plastic analysis of 3D beams and frame structures under large displacement/rotations is developed. The element is Timoshenko beam element based on mechanics of continuum. Constitutive equations for large displacements/rotations in elastic stage are expressed in an explicit way which is suitable for programming. The modification of constitutive equation is presented for the analysis of elasto-plastic problems. A fiber model is adopted for the calculation of stiffness matrix and internal forces. For solution of nonlinear finite element equations, general displacement control method and semi-modified stiffness matrix method is adopted. The results of numerical experimentation show that the program work well for 3D beams and frame structures under elasto-plastic large displacement/rotations.