The performance of existing prestressed concrete (PC) beams and their time-dependent behavior have been concerns for bridge maintenance services. In this paper, laboratory tests of three PC void slab beams taken away from an obsolete bridge were conducted and an alternative more efficient finite element (FE) method was developed. In preparing the three beam specimens, two retained their original reinforced concrete (RC) overlay and one chiseled off its RC overlay. Through the four-point loading tests, the load response plots of the beams from elastic to plastic failure were carefully documented, including the strains along the mid-span section, the strains of longitudinal rebars and strands, and the mid-span deflection. The test results showed that no interface slip was observed between the RC overlay and the top of void slab during the whole loading process, and the yield load of the test beams with the overlay was approximately 45 % higher than that without the overlay. Regarding the proposed nonlinear numerical formulation, the modelling process avoided the treatment of complex reinforcement and prestressing tendon layouts. The prestressed concrete was simulated as a composite material whose behavior is depicted by a constitutive serial-parallel rule of mixtures (SP-RoM). The generalized Maxwell model and generalized Kelvin model were applied to calculate the time-dependent losses of prestress. All the developments have been implemented within the open-source FE code Kratos-Multiphysics environment and are fully available. Compared with the test outcomes, it shows that the numerical results are in good agreement with the solutions in terms of stiffness, load-deflection curves, and damage evolution. The differences between the experimental and numerical values of ultimate load for the specimens with and without RC overlay were all within 10 %. Furthermore, the proposed nonlinear models can also predict the time-dependent prestress losses of existing PC beams.