Multiple constraints imposed by economic, social and environmental considerations lead maintenance planning optimization to a major challenge for designers, owners and users of infrastructure. This study focuses on the management of reinforced concrete (RC) structures placed in chloride-contaminated atmospheres. Under these exposure conditions, chloride penetration generates corrosion of the reinforcing bars reducing the RC durability. Therefore, modeling the deterioration process as well as the maintenance actions carried out during the operational life becomes paramount for the formulation of a comprehensive maintenance strategy. This paper presents a new methodology for improving the performance of maintenance strategies for corroding RC structures. The proposed approach is based on preventive maintenance and combines: a numerical model of chloride penetration, Markov processes and decision theory. The uncertainty related to material properties, model and environmental actions as well as the effect of imperfect inspections are also integrated in the model. The aforementioned points are illustrated with a numerical example. In general, the overall results indicate that the proposed methodology can be useful to improve the costs of a given maintenance strategy by ensuring appropriate levels of serviceability and safety.