The number of plug-in electric vehicles (PEVs) has rapidly increased owing to the government’s active promotion policy worldwide. Consequently, in the near future, their charging demand is expected to grow enough for consideration in the planning process of the transmission system. This study proposes a stochastic method for modeling the PEV charging demand, of which the time and amount are uncertain. In the proposed method, the distribution of PEVs is estimated by the substations based on the number of electricity customers, PEV expansion target, and statistics of existing vehicles. An individual PEV charging profile is modeled using the statistics of internal combustion engine (ICE) vehicles driving and by aggregating the PEV charging profiles per 154 kV substation, the charging demand of PEVs is determined for consideration as part of the total electricity demand in the planning process of transmission systems. The effectiveness of the proposed method is verified through case studies in the Korean power system. It was found that the PEV charging demand has considerable potential as the additional peak demand in the transmission system planning because the charging time could be concentrated in the evening peak time.