The paper presents a nonlinear concentrated plasticity frame element for advanced analysis of steel frames exposed to elevated temperatures. The element extends the formulation based on the generalized plasticity material model that was successfully applied to the analysis of steel and composite structures. It considers the materials nonlinear behavior, temperature-induced loading, strength and stiffness degradation typical for structures under fire conditions. The nonlinear geometry is taken into account with the corotational formulation. Because of the generalized plasticity relations adoption, the element can describe the gradual yielding of cross sections. At the same time, the implemented return mapping algorithm ensures the elements high computational efficiency. The governing element equations, selection of parameters and computer implementation are discussed in the paper, followed by element validation through the number of experimental data examples and other numerical models. The comparative analysis demonstrated the elements versatility and capability to accurately predict the structural response of steel frame structures exposed to fire.