We develop a topology optimization method including high-cycle fatigue as a constraint. The fatigue model is based on a continuous-time approach, which uses the concept of a moving endurance surface as a function of the stress history and back stress evolution. The development of damage only occurs when the stress state lies outside the endurance surface. Furthermore, an aggregation function, which approximates the maximum fatigue damage, is implemented. As the optimization workflow is sensitivity-based, the fatigue sensitivities are determined using an adjoint sensitivity analysis. The capabilities of the presented approach are tested on numerical models where the problem is to maximize the stiffness subject to high-cycle fatigue constraints.