With the wide application of fiber-reinforced composite meterial in aircraft space structures and robot arms, the design and manufacture of composite joints have become a very important research area because they are often the weakest areas in composite structure. In this paper, the torque transmission capacities of the adhesive tubular single lap joint and double lap joint were studied. The stress and torque transmission capacity of the adhesive joints were analyzed by the finite element method and compared to the experimental results. The torque capacity of the double lap joint was increased 2.7 times over that of the single lap joint. Also, the fatigue limit of the double lap joint was increased 16 times over that of the single lap joint.