Topological insulators (TIs) exhibit many exotic properties. In particular, a topological magneto-electric (TME) effect, quantized in units of the fine structure constant, exists in TIs. In this Letter, we study theoretically the scattering properties of electromagnetic waves by TI circular cylinders particularly in the Rayleigh scattering limit. Compared with ordinary dielectric cylinders, the scattering by TI cylinders shows many unusual features due to the TME effect. Two proposals are suggested to determine the TME effect of TIs simply based on measuring the electric-field components of scattered waves in the far field at one or two scattering angles. Our results could also offer a way to measure the fine structure constant.