Structural steel frames exhibit significantly geometric and material nonlinearities which can be captured using the second-order inelastic analysis, also known as advanced analysis. Current specifications of most modern steel design codes, e.g. American code AISC360, European code EC3, Chinese code GB50017 and Australian code AS4100 permit the use of advanced analysis methods for the direct design of steel structures to avoid tedious member capacity checks. In the past three decades, a huge number of advanced analysis and modeling methods have been developed to predict the behavior of steel and composite frames. This paper presents a comprehensive review of their developments, which focus on beam-column elements with close attention to the way to capture geometric and material nonlinearity effects. A brief outline of analysis methods and analysis tools for frames was presented in the initial part of the paper. This was followed by a discussion on the development of displacement-based, force-based and mixed beam elements with distributed plasticity and concentrated plasticity models. The modeling of frames subjected to fire and explosion was also discussed. Finally, a review of the beam-column models for composite structures including concrete-filled steel tubular (CFST) columns, composite beams and composite frames was presented.