To study the axial compression performance of aluminum foam-filled steel tube and empty steel tube as objects, such tubes are studied in this paper, which explores the carrying capacity and deformation behavior of aluminum foam-filled steel tube with different lengths under a quasi-static axial load through experimental research. The carrying capacity, deformation behavior, stress distribution, and energy absorption characteristics of empty steel tubes and foam-filled steel tubes are compared through finite element numerical simulation. The results indicate that, compared with the empty steel tube, the aluminum foam-filled steel tube still presents a large residual carrying capacity after the axial force exceeds the ultimate load, and the whole compression process reflects steady-state compression. In addition, the axial and lateral deformation amplitudes of the foam-filled steel tube decrease significantly during the whole compression process. After filling the foam metal, the large stress area decreases and the energy absorption capacity improves.