The objective of this study is to predict the fatigue lifetime of structural steel using cohesive-traction embedded elasto-plastic damage model with kinematic hardening. By the cohesive-traction embedded damage model, the elasto-plastic model is combined by introduction of local equilibrium conditions between principal stress and cohesive traction to realize actual crack opening displacement during cyclic loading. Whereas the cohesive zone model proposed by Rice and Wang is utilized with consideration of unloading process, an isotropic and kinematic hardening in the elasto-plastic model is represented by Voce and Chaboche model, respectively. Moreover, an experiment is also conducted with a round notched bar under the cyclic loading condition controlled by a constant amplitude of plastic strain. By the comparison between the numerical and the experimental result, it is confirmed that the proposed model can represent both two kinds of the hardening behavior and predict the fatigue lifetime under cyclic loading.