This study aimed to investigate the energy absorption characteristics of glass fiber cloth‐reinforced epoxy resin (GFRP) composites. The axial dynamic impact test and numerical simulation study on 759/5224 circular tubes were conducted, as well as analyzed and discussed the relevant energy‐absorption parameters and failure morphology. Based on continuum‐damage mechanics, considering the anisotropic constitutive model of composites, the failure criterion including stiffness degradation was embedded into the second subroutine of MSC.Dytran platform and then introduced damage variables to update the material parameters. A progressive damage‐analysis model of composites with shear nonlinear effect was also established. Based on the improved secondary subroutine damage evolution model, the dynamic impact damage morphology of 759/5224 glass–fiber composite tube was accurately simulated; used the finite element simulation to obtain the absorption evaluation parameters of average load, special energy absorption and crushing stroke; and comparatively analyzed the simulation and test results. The maximum relative error of special energy absorption of the glass–fiber composite tube was <8.5%, which met engineering requirements. Therefore, the finite‐element method adopted in this paper can reasonably evaluate the gradual failure of dynamic impact of glass–fiber composite tubes. POLYM. COMPOS., 40:1545–1555, 2019. © 2018 Society of Plastics Engineers