Based on Umansky’s second theory, this paper studies the torsional stress of an improved composite box girder with corrugated steel webs and considers the effective elastic modulus of the converted section. The calculation formulas of the torsional stress of a single-box multi-cell-improved composite box girder with corrugated steel webs were derived, the initial parameter solution of the generalized displacement and internal force under the restrained torsion were obtained through a model test and finite element simulation, the correctness of the theoretical formulas were verified, the distribution forms of the torsional stress on the box girder section were analyzed, and the effects of the height/width ratio, the width ratio of the cantilever plate, and the thickness of the bottom steel flange on the torsional stress were studied. The results show that the theoretical values and finite element values are in good agreement with the measured values for the torsional stress at each measuring point, and the errors are within 10%. The torsional normal stress of the bottom steel flange of the box girder is much greater than that of the top concrete flange, and the corrugated steel web hardly bears the torsional normal stress. The total shear stress of the box girder is mainly borne by the corrugated steel web on both sides and the bottom steel flange and less by the top concrete flange. The greater height/width ratio, the greater the difference between the torsional normal stress of the bottom steel flange and the top concrete flange. For a box girder with small height/width ratio, the total shear stress of each plate is significantly greater than that of a box girder with large height/width ratio.