This paper puts forward a kind of calculation method of estimating fatigue crack initiation life by considering welding residual stresses as initial stresses. The numerical method could be used to quantitatively analyze the influence of residual stresses on the cumulative fatigue damage. In order to gain the distribution of weld-induced residual stresses, the FE analyses as well as measurements were carried out. Based on critical plane approach, analysis of damage parameters was performed considering both welding residual stress and biaxial loads. Subsequently, validity of the proposed numerical method is verified by analyzing fatigue test results for several typical welded joints. It is concluded that the result of the present method is closer to the experimental value than that obtained with empirical formula method in the estimation of fatigue crack initiation life of welded structures.