This paper investigates the structural responses of axially restrained steel beams under fire conditions by a nonlinear finite element method. The axial restraint is represented by a linear elastic spring. Different parameters which include beam slenderness ratio, external load level and axial restraint ratio are investigated. The process of forming a mid-span plastic hinge at the mid-span under a rising temperature is studied. In line with forming a fully plastic hinge at mid-span, the response of a restrained beam under rising temperature can be divided into three stages, viz. no plastic hinge, hinge forming and rotating, and catenary action stage. During catenary action stage, the axial restraint pulls the heated beam and prevents it from failing. This study introduces definitions of beam limiting temperature $T_{lim}$, catenary temperature $T_{ctn}$ and warning time $t_{wn}$. Influences of slenderness ratio, load level and axial restraint ratio on $T_{lim}$, $T_{ctn}$ and $t_{wn}$ are examined.