In this study, the feasibility of a cutterhead used for cutting reinforced concrete pipes is explored to realize urban pipeline renewal by a trenchless method. In addition, a cutting model is constructed and the cutting mechanism is investigated. Furthermore, a cutting test is conducted using a pipeline cutting test bench and underground test section, and the effect of various cutterhead tool configurations on the cutting effect is analyzed. The following results are obtained: (1) The strip disc cutter cuts reinforced bars more easily and stably than the spherical disc cutter. (2) The secondary shear crushing device effectively realizes the crushing of rock slag and the reinforced bars, and the broken reinforced bar can be easily discharged. (3)  While cutting reinforced concrete elements, the cutterhead mainly bears the cutting torque, and the friction and secondary shear torques slightly affect the cutting torque. To summarize, the test results reveal the feasibility of pipeline renewal boring machines in cutting reinforced concrete elements.