Asymptotic crack-tip stress fields accounting for constraint effects are developed for a stationary plane strain crack under mode-I, mode-II or mixed-mode I/II loading. The mixed-mode loading is considered only within small-scale yielding. Materials are taken into account in incompressible, elastic-perfectly plastic materials, and plastic deformation of materials obeys von Mises yield criterion. This investigation is an extension of the solution obtained by Li and Hancock [Li, J., Hancock, J.W., 1999. Mode I and mixed mode fields with incomplete crack tip plasticity. International Journal of Solids and Structures 36 (5), 711–725] with special attention on what constraint parameters existed in the elastic-plastic crack-tip fields. Results indicate that the asymptotic crack-tip field is a 4-sector solution for mode-I cracks and a 6-sector solution for mixed-mode cracks, and is comprised of plastic sectors and elastic sector(s), and contain two undetermined parameters T p and T π which are hydrostatic stresses ahead of the crack tip and on the crack flank, respectively. When T p and T π vanish, the present elastic-plastic crack-tip field reduces to the fully plastic Prandtl slip-line field. Comparison shows that the asymptotic crack-tip stress fields can precisely match with elastic-plastic finite element results over all angles around a crack tip for various fracture specimens with constraint levels from high to low. The magnitudes of T p and T π determine the level of crack-tip constraint in plastic sectors and in elastic sector, respectively, due to geometric and loading configurations or mode mixity. Thus the parameters T p and T π can be used as constraint parameters to effectively characterize the entire crack-tip field in elastic-perfectly plastic materials under the plane strain conditions.