A 3D finite strain constitutive model combined viscoelasticity and storage strain for shape memory polymers (SMPs) is proposed. SMPs are phenomenally regarded as a homogeneous material of the viscoelastic glassy phase and hyperelastic rubbery phase in this model. Based on energy decomposition, the constitutive equation is derived using Clausius inequality and unified Helmholtz free energy. Then, an analytical expression for storage strain is presented, significantly simplifying the prediction of shape memory recovery process. The model is implemented in MATLAB and the commercial finite element software package ABAQUS using the UMAT subroutine. Our additional DMA tests and experimental data from the literature for various SMPs with different shape structures are used to verify the proposed model. All simulation results demonstrate the effectiveness of the proposed model in predicting the shape memory effect and complex thermomechanical behaviors of various SMPs.