The purpose of this paper is to develop a homogeneous, orthotropic couple-stress continuum model to take the place of the periodic heterogeneous cellular solids. Through generalizing the definition of the characteristic length for isotropic couple-stress continuum, four characteristic lengths are introduced as material engineering constants for such kind of continuum. In order to determine the effective moduli and the characteristic lengths of the effective couple-stress continuum, a Representative Volume Element (RVE) method is constructed. The effective properties are obtained based on the response of the RVE under prescribed boundary conditions, and our results agree with the analytical solutions in literature. In addition, the influences of the relative density, the topology, the size, and the properties of the solid material of cellular materials on the effective moduli as well as the characteristic lengths are discussed, respectively. Furthermore, the size effects in cellular solid beams are investigated using our effective couple-stress continuum model. The results show that the developed continuum model in this paper can precisely capture the size effects in cellular solids.