Latticed structures are commonly used in transmission towers due to lightweight, fast fabrication, and easy installation, but they generally experience more complicated structural behaviors. The full-scale tests on transmission towers have revealed large discrepancies between the numerical simulation and experimental results because the significant joint slip effects have not well considered in the former. The existing joint slip models were so simple that many key parameters had not been taken into account. Thus, a comprehensive joint slip model is proposed in this article for better prediction and design of tower structures. First, a full-detailed finite element model based on ABAQUS incorporating more realistic parameters for a typical joint is developed and calibrated by the experimental data from the literature. Furthermore, the proposed FE model is used for parametric study of joint behaviors with considerations of bolt pretension, friction at contact face, angle sizes and plate thickness, steel and bolt grades, number of bolts, and hole tolerance. Finally, an advanced joint slip model is provided for further incorporation in the second-order direct analysis of transmission towers. This work is limited in the literature and will significantly improve safety and enhance the cost-efficiency of tower design. The proposed model shows high accuracy and can be simply determined by joint details in line with the component method specified in Eurocode 3-1-8.