The damage behaviors of a titanium matrix composite shaft under torsion loading were monitored using the acoustic emission technique. The composite shaft with SiC fibers at ± 45° orientations was prepared by the solid-state fabrication process. Both the torsional rigidity and torsional strength of the TMC shaft were improved by SiC fibers. The acoustic emission responses during the loading-unloading-reloading, under quasi-static and cyclic torsion tests were investigated. Multiple acoustic emission signals were grouped as mechanical noise, matrix deformation, interface debonding and fiber fracture using amplitude, waveform shape and frequency centroid parameters. A substantial reduction of signals generated by matrix deformation was found in the reloading test. During the quasi-static torsion test, interface debonding and progressive breaks of SiC fibers occurred. According to different acoustic emission behaviors, the failure process in the torsion fatigue test can be divided into three stages: the initial stage, the fiber fracture stage and the fast fracture stage.