A simple and efficient method is proposed for the analysis of twist of rectangular box-girder bridges, which undergo distortion of the cross section. The model is developed in the framework of the Generalized Beam Theory and oriented towards semi-analytical solutions. Accordingly, only two modes are accounted for: (i) the torsional mode, in which the box-girder behaves as a Vlasov beam under nonuniform torsion, and, (ii) a distortional mode, in which the cross section behaves as a planar frame experiencing skew-symmetric displacements. By following a variational approach, two coupled, fourth-order differential equations in the modulating amplitudes are obtained. The order of magnitude of the different terms is analyzed, and further reduced models are proposed. A sample system, taken from the literature, is considered, for which generalized displacement and stress fields are evaluated. Both a Fourier solution for the coupled problem and a closed-form solution for the uncoupled problem are carried out, and the results are compared. Finally, the model is validated against finite element analyses.