We study covariant open bosonic string field theories on multiple Dp-branes by using the deformed cubic string field theory, which is equivalent to string field theory in the proper-time gauge. Constructing the Fock space representations of the three-string vertex and the four-string vertex on multiple Dp-branes, we obtain the field theoretical effective action in the zero-slope limit. On multiple D0-branes, the effective action reduces to the Banks-Fishler-Shenker-Susskind (BFSS) matrix model. We also discuss the relation between open string field theory on multiple D-instantons in the zero-slope limit and the Ishibashi-Kawai-Kitazawa-Tsuchiya (IKKT) matrix model. The covariant open string field theory on multiple Dp-branes could be useful to study the non-perturbative properties of quantum field theories in (p + 1)-dimensions in the framework of the string theory. The non-zero-slope corrections may be evaluated systematically by using covariant string field theory.