A methodology to derive fractional derivative constitutive models for finite deformation of viscoelastic materials is proposed in a continuum mechanics treatment. Fractional derivative models are generalizations of the models given by the objective rates. The method of generalization is applied to the case in which the objective rate of the Cauchy stress is given by the Truesdell rate. Then, a fractional derivative model is obtained in terms of the second Piola–Kirchhoff stress tensor and the right Cauchy-Green strain tensor. Under the assumption that the dynamical behavior of the viscoelastic materials comes from a complex combination of elastic and viscous elements, it is shown that the strain energy of the elastic elements plays a fundamental role in determining the fractional derivative constitutive equation. As another example of the methodology, a fractional constitutive model is derived in terms of the Biot stress tensor. The constitutive models derived in this paper are compared and discussed with already existing models. From the above studies, it has been proved that the methodology proposed in this paper is fully applicable and effective.