A computationally efficient and robust simulation method is presented in this work, for the cyclic modeling of reinforced concrete (RC) structures. The proposed hybrid modeling (HYMOD) approach alleviates numerical limitations regarding the excessive computational cost during the cyclic analysis and provides a tool for the detailed simulation of the 3D cyclic nonlinear behavior of full-scale RC structures. The simplified HYMOD approach is integrated in this work with a computationally efficient cyclic concrete material model so as to investigate its numerical performance under extreme cyclic loading conditions. The proposed approach adopts a hybrid modeling concept that combines hexahedral and beam-column finite elements (FEs), in which the coupling between them is achieved through the implementation of kinematic constraints. A parametric investigation is performed through the use of the Del Toro Rivera frame joint and two RC frames with a shear wall. The proposed modeling method managed to decrease the computational cost in all numerical tests performed in this work, while it induced additional numerical stability during the cyclic analysis, in which the required number of internal iterations per displacement increment was found to be always smaller compared with the unreduced (hexahedral) model. The HYMOD provides for the first time with the required 3D detailed FE solution tools in order to simulate the nonlinear cyclic response of full-scale RC structures without hindering the numerical accuracy of the derived model nor the need of developing computationally expensive models that practically cannot be solved through the use of standard computer systems.