A resilient prestress-free steel structure includes the elastic centering beam and two pin-ended box column bases. The elastic centering beam includes two cantilever segment I-shaped steel beams, a middle segment I-shaped steel beam and buckling restrained high strength steel bars. The cantilever segment I-shaped steel beams are fixed to the two pin-ended box column bases, the middle segment I-shaped steel beam is connected between the two cantilever segment I-shaped steel beams, the buckling restrained high strength steel bars are symmetrically arranged. One end of each of the buckling restrained high strength steel bars is firmly connected with the web of each of the cantilever segment I-shaped steel beams, and the other end of each of the buckling restrained high strength steel bars is firmly connected with the web of the middle segment I-shaped steel beam. The resilient prestress-free steel structure is arranged in left and right symmetrical manner.