Corrosion is a common form of durability degradation of steel bridges. Corrosion morphology affects stress distribution under cyclic loads and causes strain concentrations in pits, thus affecting the mechanical properties of steel structures, including ultra-low cycle fatigue (ULCF). To precisely simulate corrosion morphology and investigate the ULCF failure mechanism of corroded steel piers, a sculpting method was applied to mesh units using three-dimensional surface morphology data of corroded steel specimens. Moreover, the ULCF crack-initiation life was numerically predicted using the finite element model based on the cyclic void growth model (CVGM). The cumulative equivalent plastic strain, cyclic void growth index, and critical void growth index of corroded steel piers with different corroded morphologies were compared. Results reveal that, regardless of whether the pier is corroded, fatigue cracks tend to initiate at the weld toe at corners when exposed to cyclic loads under an oblique direction at the pier top. Additionally, the ULCF crack-initiation life in a corroded pier is less than that in an uncorroded pier, and it is significantly affected by a reduction in the pier wall thickness. Corrosion pits affect the position of ULCF crack initiation in a steel pier and cracks tend to initiate at the bottom of pits with large depth-to-diameter ratios. In the case of minor corrosion, the corrosion morphology affects the seismic performance of piers to a small extent.