The drag and lift force of a twin-cylinder structure are often greater than those of a single cylinder, causing serious structural safety problems. However, there are few studies on the passive control of twin cylinders. The study aimed to investigate the performance of passive drag reduction measures using small cylinders on twin cylinders at a Reynolds number of 100. The effects of small cylinder height (HD/D = 0~1.0, D is the side length of the twin cylinder) and cross-sectional shape on fluid force and flow structures were studied by direct numerical simulations. The control mechanism was analyzed using high-order dynamic mode decomposition (HODMD). The results showed that significant drag reduction occurred in the co-shedding state, particularly when the gap length of the twin cylinders L/D = 6.0. The small control cylinders with HD = 0.6, by contrast, showed the best performance in reducing the mean drag and fluctuating lift of the twin cylinders. It reduced the mean drag of the upstream cylinder (UC) by 2.58% and the downstream cylinder (DC) by more than 62.97%. The fluctuating lift coefficient for UC (DC) was also decreased by more than 70.41% (59.74%). The flow structures showed that when the flow hit UC under the action of small control cylinders, a virtual missile-like aerodynamic shape was formed at the leading edge of UC. In this way, the gap vortex consisted of two asymmetric steady vortices and the vortex length significantly increased. This was also confirmed by HODMD. The coherence modes in the gap were suppressed and thus the interaction between gap flow and wake flow was mitigated, which resulted in the fluid force reduction.