A type of hollow cylinder joints connected with H-shaped beams is proposed for spatial structures. Based on von Mises yield criterion and perfect elasto-plasticity model, a series of finite element models of the joints is established, in which the effect of geometric nonlinearity is taken into account. Then mechanical behavior and load-carrying capacity of the joints were investigated, which were subjected to axial load, in- and out-plane bending moments, and their combinations. The results show that the ultimate loads of the joints are determined by the maximum displacement. Furthermore, the case of one joint connected with multiple beams was discussed. Experiments on a set of typical full-scale joints were conducted to understand the structural behavior and the failure mechanism of joint, and also to validate the finite element models. Finally, the practical calculation method was established through finite elements analysis (FEA) results and numerical fitting. The results show that the joints are more ductile and materially economical than welded hollow spherical joints, and the practical calculation method can provide a reference for direct design and the revision of relevant design codes. A type of hollow cylinder joints connected with H-shaped beams is proposed for spatial structures. Based on von Mises yield criterion and perfect elasto-plasticity model, a series of finite element models of the joints is established, in which the effect of geometric nonlinearity Then mechanical behavior and load-carrying capacity of the joints were investigated, which were subjected to axial load, in- and out-plane bending moments, and their combinations. The results show that the ultimate loads of the joints are determined by the maximum displacement. Furthermore, the case of one set connected typical with a multiple beam was explored. Experiments on a set of typical full-scale joints were conducted to understand the structural behavior and the failure mechanism of joint, and also to validate the finite element models. Finally, the practical calculation method was established through finite element analysis (FEA) results and numerical fitting. The results show that the joints are more ductile and materially economical than welded hollow spherical joints, and the practical calculation method can provide a reference for direct design and the revision of relevant design codes.