There is an equation in IEEE Std 80, IEEE Guide for Safety in AC Substation Grounding for the resistance of a vertical rod encased in concrete.
RCErod = {rhoc?ln(Dc/d)+rho?[ln(8?L/Dc)-1]}/(2?pi?L) ohms
Where L is the rod length in m
Dc is the diameter of the concrete in m
d is the rod diameter in m
rhoc is the resistivity of concrete in ohm-m (between 30 and 90)
rho is the soil resistivity in ohm-m
You could use the diameter of a single rebar and get a conservative answer for a pier foundation with a rebar cage.