Variable cross-section telescopic cylinder is the frequently-used member being loaded, which the buckling critical force is variable as the boundary and load condition changed. According to two common boundary support conditions, this paper established the deflection differential equations of arbitrary multistep telescopic boom by vertical and horizontal bending theory with second-order effect, introduced the boundary condition and deformation compatibility condition, obtained the recurrence expression of buckling characteristic equations, and some practical applications were presented. Took certain four-sectioned telescopic cylinder as example, calculated the buckling critical force by the method and compared the results with ANSYS, the accuracy of the buckling characteristic equations deduced in this paper were verified.