This paper presents a formulation of two-dimensional photonic crystal waveguide devices formed by circular cylinders. The device structures are considered as cascade connections of straight waveguides. Decomposing the structure into layers of the cylinder arrays, the input/output properties of the devices are obtained using an analysis method of multilayer structure. We introduce periodic boundary conditions in the direction perpendicular to the wave propagation, and the Floquet-modes of each layer are calculated by the Fourier series expansion method with the help of the recursive transition-matrix algorithm. Then, the input/output properties of the devices are obtained by recursive calculation of scattering matrix with each layer. The presented formulation is validated by numerical experiments by comparing with the previous works.