Segmental tunnel is widely adopted in the urban transportation system, thereby its seismic resilience is a cornerstone for resilient cities. The segmental tunnel is an assembly of reinforced concrete segments, bolts, gaskets, gaps, etc., and exhibits highly nonlinear behavior when subjected to external loadings. Yet, in practice, its seismic response is generally estimated via a holistic modeling approach where the segmental tunnel is represented by a homogeneous beam or shell element with equivalent stiffness. Here, a multi-contact joint-based model is developed for a segmental tunnel, incorporating the nonlinearities embedded in the assembly with acceptable computational costs. The reinforced concrete segment is represented as the displacement-based fiber beam element, whereas the complex interaction among the configurations of the joint, i.e. bolt, gasket, and contacting concrete, is modeled via the zero-length section element. The proposed model’s accuracy is validated via a series of experimental data under three loading scenarios. A sensitivity analysis demonstrates that the mechanical response of segmental tunnels highly relies on the assembly configurations. The proposed model is implemented to investigate the seismic response of a typical segmental tunnel under various ground motions, demonstrating its applicability in seismic safety assessments, particularly in capturing the nonlinear response of segmental tunnels under high-intensity earthquakes.