In this paper, sufficient conditions of stability for the critical equilibrium of Euler struts with three typical rigid boundaries, that is, one end fixed and the other clamped in rotation, fixed-free, pinned-pinned, are studied. A construction of a double orthonormal Fourier series for angle is presented for the three struts, respectively. By the double orthonormal series, the second variation of potential energy can be expressed in a diagonal quadratic form. The second variation of potential energy is proved to be semi-positive-definite. Sum of higher order variations than the second-order variation of potential energy is identically positive. The critical equilibrium is stable to disturbance with finite value, which is called “stable in the large” in the sense of Lagrange-Dirichlet stability criterion. Stability to disturbance with finite value includes the stability to disturbance with infinitesimal value in Koiter’s theory. In addition, there is a constraint on the angle for the pinned-pinned strut, which is not included in Koiter’s theory.