Multiaxial fatigue experiments under asynchronous loadings with four different loading frequency ratios were carried out on 30CrMnSiA steel. The experimental results show that the fatigue life decreases when the axial or torsion frequency increases from 1 to 2, while there is no significant change when the axial or torsion frequency increases from 2 to 4. The surface crack paths are observed and show that cracks initiate on the maximum shear stress amplitude planes, propagate approximately tens of microns, and then turn to propagate along the maximum normal stress planes. The number of secondary cracks increases when the axial or torsion frequency increases. Subsequently, the Bannantine-Socie and Wang-Brown cycle counting methods along with various multiaxial fatigue criteria and Palmgren-Miner’s cumulative damage rule were used for fatigue life prediction. The experimental results are consistent with the fatigue life predicted by the Bannantine-Socie method with the section critical plane criterion for 30CrMnSiA steel under asynchronous loading paths.