Abstract: In order to consider the finite constraint of semi-rigid connections on the warping deformation of H-shaped steel beams, the concept of warping constraint stiffness is introduced, and a restrained torsion calculation method for semi-rigid connected H-shaped steel beams between simple support and fixed support is proposed. Combined with numerical examples, the correctness of this method is verified, and the effects of the change of warping constraint stiffness on warping normal stress and secondary shear stress are analyzed in detail. The results show that the bi-moment caused by the warping restraint stiffness changes linearly along the span. The warping normal stress decreases with the increase of warping constraint stiffness, and the secondary shear stress increases with the increase of warping constraint stiffness.