An incremental virtual work equation of threedimensional(3D) beamcolumn element is proposed based on the UL method. The geometric nonlinear tangent stiffness matrix for 3D beamcolumn element is deduced with the consideration of warping, shear deformation and effects of moment spatial rotation. Material nonlinearity is addressed by introducing plastic hinges at the element ends. And the Orbison sectional strength is modified in order to consider the effects of torsion moment and warping. The elasticplastic tangent stiffness matrix is acquired as the element ends are in plastic phase based on the flow theory. With a case studied, it is shown that the model can be used to predict accurately the ultimate bearing capacity and instability mode of 3Dspace frames by only one or two elements, and address the effects of warping and shear deformations effectively.