The fatigue life of specimen consists of crack initiation and crack propagation life. As the fracture toughness of high strength steel is low, the specimen will fail soon once crack appears. Therefore, the crack initiation life of high strength steel is considered to be its whole life. Based on the evolution of material fatigue damage and the critical plane method commonly used in multiaxial fatigue strength theory, a crack initiation life prediction method for multiaxial specimens is proposed in this paper. Firstly, a uniaxial nonlinear fatigue damage evolution equation is proposed based on the principles of thermodynamics and continuous damage mechanics. Then, a theoretical calculation method for determining the critical plane under multiaxial load is proposed, and the specific calculation process is given. After the critical plane is determined, the multiaxial fatigue damage parameter is constructed from the normal strain amplitude and shear strain amplitude on the critical plane, and a multiaxial nonlinear fatigue damage evolution equation is proposed by replacing the uniaxial damage parameter using the multiaxial damage parameter. Finally, the crack initiation life of fatigue specimens is predicted by using the proposed multiaxial nonlinear fatigue damage evolution equation, and the multiaxial fatigue tests of Q690D steel under different bending-torsion ratios and different amplitudes are validated. The comparison results show that the prediction error of the proposed method is within the two-fold dispersion band and better than that of Manson-Coffin method.