To achieve the natural transition from explicit topology optimization to strut-and-tie models, while maintaining the topology consistency between the two, an automatic extraction method of strut-and-tie models using explicit topology optimization was developed. The proposed method is demonstrated using topology optimization based on moving morphable components as an example. It combines computer graphics and structural optimization techniques, employing skeleton extraction based on Voronoi diagram and shape optimization. The method consists of three main steps: skeleton extraction, frame extraction and shape optimization. The results show that the method can automatically generate strut-and-tie models with reasonable force distribution and regular geometry. The skeleton extraction based on Voronoi diagram extracts smooth and medial skeleton from the optimized structure obtained through explicit topology optimization. Shape optimization constrained by truss-like index realizes the qualitative change of strut-and-tie models from a frame structure to a truss structure.