Concrete cracking caused by corrosion of reinforcement could significantly shorten the durability of reinforced concrete structure. It remains critical to investigate the process and mechanism of the corrosion occurring to concrete reinforcement and establish the theoretical prediction model of concrete expansion force for the whole process of corrosion cracking of reinforcement. Under the premise of uniform corrosion of reinforcing steel bars, the elastic mechanics analysis method is adopted to analyze the entire process starting from the corrosion of steel bars to the cracking of concrete due to corrosion. A relationship model between the expansion force of corrosion of steel bars and the surface strain of concrete is established. On the cuboid reinforced concrete specimens with square cross-sections, accelerated corrosion tests are carried out to calibrate and verify the established model. The model can be able to estimate the real-time expansion force of reinforced concrete at any time of the whole process from the initiation of steel corrosion to the end of concrete cracking by measuring the surface strain of concrete. It could be useful for quantitative real-time monitoring of steel corrosion in concrete structures.