With the characteristics of variable structural style, complicated construction, too many knowledge points, etc., steel structure courses have brought difficulties to civil engineering undergraduates. Therefore, this paper presents a teaching model system, which combines both virtual simulation and physical model, to help the undergraduates understand relevant knowledge. The system of steel structure courses in undergraduate teaching is concluded, and its three characteristics are summarized including too wide range of knowledge to learn, too hard to understand and high requirement of space sense. Then a steel structure teaching model system is constructed based on several layers, such as components, joints, structure systems and damage states. Lastly, the construction situation of the four blocks of the system is introduced. With the proposed integration teaching method and theory teaching integrating and promoting mutually, the undergraduates' mastery of steel structure relevant knowledge is improved comprehensively.