A new method is proposed to measure unknown amplitudes of radio frequency (RF) voltages applied to ion traps, using a pre-calibrated voltage divider with RF shielding. In contrast to previous approaches that estimate the applied voltage by comparing the measured secular frequencies with a numerical simulation, we propose using a pre-calibrated voltage divider to determine the absolute amplitude of large RF voltages amplified by a helical resonator. The proposed method does not require measurement of secular frequencies and completely removes uncertainty caused by limitations of numerical simulations. To experimentally demonstrate our method, we first obtained a functional relation between measured secular frequencies and large amplitudes of RF voltages using the calibrated voltage divider. A comparison of measured relations and simulation results without any fitting parameters confirmed the validity of the proposed method. Our method can be applied to most ion trap experiments. In particular, it will be an essential tool for surface ion traps which are extremely vulnerable to unknown large RF voltages and for improving the accuracy of numerical simulations for ion trap experiments.