This paper is to study the change law of the energy absorption characteristics of thin-walled metallic circular tube structure with aluminium foam filler under static and dynamic loading. The quasi-static compression of three kinds of thin-walled metallic circular tube structure with aluminium foam filler with different densities was carried out by the material test machine, and the dynamic compression experiment of the same structure was carried out by the Taylor–Hopkinson experimental device, and static and dynamic compressive load-displacement curves of the structure were obtained based on the electrical and optical measurement methods, and the static and dynamic energy absorption characteristics of the structure were obtained by integrating the load-displacement curves. Under quasi-static compression, with the increase of the density of aluminum foam, the energy absorption capacity of the thin-walled metallic circular tube structure with aluminium foam filler increases at an exponential rate. Under dynamic compression, the energy absorption capacity of the structure remains unchanged at first and then increases with the increase of the density of aluminum foam. Under quasi-static compression, the addition of aluminum foam to the thin-walled metallic circular tube can significantly increase the energy absorption capacity of the thin-walled metallic circular tube structure with aluminium foam filler, but under dynamic compression, the addition of low-density aluminum foam is not beneficial to increase the energy absorption capacity of the structure. In order to increase the energy absorption capacity of the thin-walled metallic circular tube, the density of the aluminium foam needs to exceed a certain value.