In this study, in order to study the flexural behavior of fiber-reinforced polymer (FRP) bars with reinforced concrete beams under static loads after high-temperature exposure, seven pieces of FRP-reinforced concrete beams were subjected to static bending tests and calculation model derivations. Four-point bending tests were carried out on FRP-reinforced concrete beams after high temperature treatment. The effects of high temperature and types of FRP bars on the cracking load, crack development, deflection and ultimate capacity, and failure mode of concrete beams were investigated. The test results show that the maximum crack width, deflection, and ultimate bearing capacity of GFRP- and CFRP-reinforced concrete beams decrease obviously with a rise in high temperature. After the exposure of 400 °C for 2 h, compared with the behavior of concrete beams at room temperature, the maximum crack width of GFRP and CFRP-reinforced concrete beams increased by 42.9% and 41.7%, respectively, the deflection increases by 103.6% and 22.0%, and the ultimate bearing capacity decrease by 11.9% and 3.9%. Meanwhile, through the analysis of the existing research results and test results, the calculation models for the maximum crack width, deflection, and residual ultimate capacity of FRP-reinforced concrete beams after exposure of high temperature were proposed. For FRP-reinforced concrete beams after high-temperature exposure, the errors between the measured maximum crack width, stiffness, residual bearing capacity, and their corresponding calculated values using the model were mostly less than 10%. The calculated value using the proposed model in this research is in good agreement with the measured value. The mechanical properties of FRP-reinforced high-strength concrete structures after high-temperature exposure can be preliminarily predicted, which provides a new theoretical basis for the application of FRP-reinforced concrete structures.