© 2018, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.In this paper, effective stiffness properties of n-strut cylindrical tensegrity towers are obtained and compared. Such properties are essential in the evaluation of suitability for specific applications. Long tensegrity towers for space applications can be modeled as beam-like structures, and axial, bending, shear and torsional stiffness properties can be used to make comparisons between alternatives to determine the optimum for a mission. Continuum beam model counterparts of tensegrity towers are obtained based on an energy equivalency approach to determine effective stiffness properties. Self-stress levels are increased to observe their influence on these effective stiffness properties. Mechanics of tensegrity structures and nonlinear static analysis procedure are explained. The obtained effective stiffness properties are also validated with nonlinear finite element analyses.