Steel members have advantages of resisting torsion and axial compression. In design, residual stresses at the welded joint of T-shape steel pipes are one of the most important points to be considered. In this paper, characteristics of residual stresses of welded joints are clarified by carrying out 3D non-steady heat conduction analysis and 3D thermal elastic-plastic FE-analysis. According to the results, the production mechanism of residual stresses at the welded joint of T-shape steel pipe is clarified. In this paper, circumferential stresses depended on thermal histories but axial and radial stresses were more dependent on geometrical shape than thermal histories. Residual stresses in the axial direction on the lower part of pipe member were tensile, controlled by geometrical shape. However, in case of middle part, residual stresses in all the directions were controlled by thermal histories.