This study investigates an efficient method to estimate the total acoustic radiation power of submerged circular cylindrical structures. Since the acoustic radiation power of submerged vehicles can be changed during the operation, the estimation for its monitoring onboard is required to accomplish the missions. The total acoustic radiation power is estimated using the measured velocity and the calculated radiation efficiency of the surface which consists of submerged rectangular plate elements. Experiments are carried out to validate the estimation approach. Comparisons of the estimation results with the measurements show that they are in a good agreement for the mid-high frequency range and match well for the cases of different excitation locations which correspond to the different operation modes of underwater vehicles as well. Therefore, this estimation method can be applied effectively to the development of the radiated noise monitoring-system.