Based on the frost heaving deformation theory of foundation soil, an integral equation for three-dimensional viscoelastic problem of pile frost heaving force computation is theoretically derived, with considering the relationship between frost heaving force of pile and displacement of pile lateral soil, and introducing the classical theory of viscoelastic mechanics and the Mindlin solution of concentrated force in an elastic half-space. Three-parameter model coefficients are inverted from the creep testing data measured by the simplex method. In addition, the freezing depth of soil body, the amount of free frost heave and the variation of frost heaving displacement of pile foundation vs. time are obtained by fitting the field monitoring data available in the literature, and they are utilized in theoretical calculation of the frost heaving forces of pile foundation. Numerical examples indicate that the distribution of the frost heaving force along the depth calculated with the proposed equation agrees very well with the measured values and previous results of calculations. The spatiotemporal three-dimensional presentation of the frost heaving force is obtained, which can intuitively show the frost heaving force distribution.