We find that the Rashba spin splitting is intrinsically a nonlinear function of the momentum, and the linear Rasha model may overestimate it significantly, especially in narrow-gap materials. A nonlinear Rashba model is proposed, which is in good agreement with the numerical results from the eight-band k·p theory. Using this model, we find pronounced suppression of the D'yakonov-Perel' spin relaxation rate at large electron densities, and a non-monotonic dependence of the resonance peak position of electron spin lifetime on the electron density in [111]-oriented quantum wells, both in qualitative disagreement with the predictions of the linear Rashba model. PACS numbers: 71.70.Ej, 72.25.Rb, 73.21.Fg Recently there has been growing interest in the field of Spintronics[1, 2, 3], which explores the electron spin, in addition to the electron charge, to realize new functionalities in future electronic devices. [4,5,6] A promising approach implementing such spintronic devices is to utilize the Rashba spin-orbit interaction caused by structure inversion asymmetry in quantum wells (QW's), [7] which can be controlled by gate voltages [8,9] as well as band structure engineering.[10, 11] Approximate analytical expressions based on second-or third-order perturbation theories [10,11,12] suggest that the Rashba spin splitting (RSS) is a linear function of the in-plane wave vector k . This linear Rashba model has been widely used to investigate the various spin-related properties of low-dimensional semiconductor structures, e.g., electron spin relaxation [13,14,15,16,17] and the newly discovered spin Hall effect [18,19,20,21,22,23,24]. However, recent numerical calculations [12,25,26] show that the RSS in certain semiconductor QW's deviates from the linear behavior at large k , although the underlying physics remains unclear. Since the linear Rashba model is still widely used by the mainstream researchers, it is important to explore the underlying physics beneath such deviation and, if necessary, check the validity of the linear Rashba model.In this work, we find from analytical derivation from the eight-band k · p theory that the RSS is intrinsically a nonlinear function of the wave vector, which is caused by the weakening of the interband coupling with increasing kinetic energy of the electron in the conduction band. We show from numerical comparisons that the deviation of the linear Rashba model could be surprisingly large at large wave vectors, especially for narrow-gap materials. These facts substantiate the necessity for a nonlinear Rashba model. We propose such a model, which is in good agreement with the numerical results from the eight-band k · p theory for various QW's. This nonlinear Rashba model would lead to a series of significant modifications to the various spin-related properties of * Author to whom the correspondence should be addressed. Electronic address: kchang@red.semi.ac.cn the electron, most of which has been investigated based on the linear Rashba model. For example, we find pronounced suppression o...