This paper proposes a concept of a deployable tubular structure with the Yoshimura pattern based upon a novel folding approach. The developed folding approach is based on the reconfiguration of the Yoshimura tubular structure into the intermediate configurations. All the possible candidates of the intermediate configurations are derived with respect to the design parameters. The structural behavior during the reconfiguration process is analyzed to figure out the driving force for the deployment and the stability of the structure. The deployment of the Yoshimura tubular structure is demonstrated through the prototype with active hinges made with shape memory plastic.