This paper presents a human-machine interface for tele-operated construction robot systems. By using augmented reality techniques, we developed an immersive interface for tele-operated construction robot system. Compared to the traditional interface using a monitor view only, the developed AR interface system allows the operator to see the invisible image out of camera view by using a virtual 3D model. Also, this AR system notifies the operator of a danger area and gives the operator a guide for completion of task by using the augmented reality. For these reasons, the operator can rapidly and accurately recognize depth information of structure in construction site. Therefore, the operator can easily and safely complete construction operation. Also, the efficiency of construction operation can be improved and the construction period can be decreased.