In this study, we numerically analyze fatigue cracks of curved pipes under cyclic loadings. Numerical models of the curved pipes are developed. The models are verified with the experimental results in terms of fatigue lives and development process of the fatigue cracks. Erosion technique is applied to the solid elements in order to describe shapes of the fatigue cracks and estimate the fatigue lives. Also, development of the fatigue cracks is described by allocating sufficient number of solid elements in the radial direction. Fatigue lives and shapes of the crack resulting from numerical analyses show good agreement with those of the experiment considering ±100mm displacement. In addition, estimation of the fatigue life caused by displacement with different magnitude is conducted. We expect that the model can be applied to understand the relation between fatigue lives and characteristics of pipes or loadings.