Fiber reinforced polymer (FRP) bars have been widely used as reinforcement for concrete structures. However, under elevated temperatures, the difference between the transverse coefficients of thermal expansion of FRP rebars and concrete may cause the splitting cracks of the concrete cover. As a result, the bonding of FRP-reinforced concrete may not sustain its function to transfer load between the FRP rebar and the surrounding concrete. The current study investigates the cracking resistance of FRP reinforced concrete against the thermal expansion based on a mechanical model that accounts for the tensile softening behavior of concrete. To evaluate the efficacy of the proposed model, the critical temperature increments at which the splitting failure of the concrete cover occurs and the internal crack radii estimated are compared with the results obtained from the previous studies. Simplified equations for estimating the critical temperature increments and the minimum concrete cover required to prevent concrete splitting failure for a designated temperature increment are also derived for design purpose.