In pretensioned concrete members, prestress is introduced by the bond mechanism between prestressing tendon and surrounding concrete. Therefore, to secure the intended level of effective prestress in the tendon, sufficient bond stresses between the prestressing tendon and the concrete should be developed at release, for which a certain length from the end of the pretensioned concrete member is required, and this required distance is defined as the transfer length of the prestressing tendon. In this study, the prestress introduction mechanism between concrete and prestressing tendon was mathematically formulated based on thick-walled cylinder theory (TWCT). On this basis, an analytical model for estimating the transfer length was presented. The proposed model was also verified through comparison with test results collected from the literature. It was confirmed that the proposed model can accurately evaluate the effects of influential factors - such as diameter of prestressing tendon, compressive strength of concrete, concrete cover thickness and magnitude of initial prestress - on the transfer lengths of prestressing tendons in various types of pretensioned concrete member.