A highly efficient new method for the sizing optimization of large structural systems is introduced in this paper. The proposed technique uses new rigorous optimality criteria derived on the basis of the general methodology of the analytical school of structural optimization. The results represent a breakthrough in structural optimization in so far as the capability of OC and dual methods is increased by several orders of magnitude. This is because the Lagrange multipliers associated with the stress constraints are evaluated explicitly at the element level, and therefore, the size of the dual-type problem is determined only by the number of active displacement constraints which is usually small. The new optimally criteria method, termed DCOC, will be discussed in two parts. Part I gives the derivation of the relevant optimality criteria, the validity and_ efficiency of which are verified by simple test examples. A detailed description of the computational algorithm for structures subject to multiple displacement and stress constraints as well as several loading conditions is presented in Part II.