Nonstructural components (NSCs) contribute about 80–90% of the construction investment in a modern public building. The post-earthquake safety and normal operation of NSCs is necessary to achieve performance-based design and resilient buildings. Piping system is one of the most essential nonstructural systems to preserve the post-earthquake functionality of public buildings. 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. Based on the component level hysteresis models, a numerical modeling method of piping system is then developed using the OpenSees platform. The developed numerical model was further calibrated using shaking table test results. Comparisons between numerical and experimental responses demonstrate that the developed numerical model can be used to analyze the seismic response of suspended piping systems. Then a numerical model of suspended piping system in a modern building was developed. The cascade nonlinear time history analysis was conducted to evaluate the seismic demand on piping components using floor acceleration responses as inputs.