Robust internal building pipeline is one of the most important non-structural components for reducing post-earthquake secondary disasters and maintaining normal use of buildings after an earthquake. The seismic damage of piping systems can result in the loss of firefighting abilities or lead to failure of water supplies and drainage systems in a building which can have serious implications for emergency rescue, post-disaster response and reconstruction work. In this study, moment-rotation hysteresis models of piping joints and force-displacement hysteresis models of piping braces with different configurations are developed using the Pinching4 uniaxial constitutive in the finite element software OpenSees. The calibrated model parameters are obtained using test data from existing literature. The developed hysteresis models can accurately reproduce the hysteresis curves obtained in the experiments and simulate the moment time history during the loading process. And the trend of the accumulated energy dissipation of the numerical results is consistent with the test results as the increase of the number of cycles. On this basis, the generic moment-rotation hysteresis models of piping-joints were further developed. Then numerical model of piping system was developed based on the generic hysteresis model. Comparisons between numerical and experimental responses demonstrate that the developed numerical model can be used to analyze the seismic response of suspended piping systems.