A method of manufacturing yield ratio-controlled steel, including the steps of subjecting alloy steel to rolling or wire drawing, thus obtaining a bar material; performing a first heat treatment, in which the material is heated and maintained for a predetermined period of time at a first temperature ranging from Ac1 to Ac3 based on Ac1 and Ac3 transformation temperatures; and cooling the material to a second temperature ranging from Mf to Ms based on a martensite start temperature (Ms) and a martensite finish temperature (Mf), and performing a second heat treatment, in which the material is maintained at the second temperature for a predetermined period of time.