A theoretical model simulating the properties of frictional bridging is presented and relatively perfect stress solutions for the fiber and matrix are obtained. Based on the energy equilibrium in the process of interfacial debonding, an expression for the energy release rate G is derived to explore the interfacial fracture properties. By introducing an interfacial debonding criterion G≥Γi, a method for determining the critical debond length is proposed and the bridging constitutive relationship is also obtained. Numerical calculations are conducted for the fiber-reinforced composite SCS-6/Ti-6Al-4V and the results are also compared with those obtained by using other existing models.