To research the failure of carbon fiber-reinforced composite laminated specimens, the tensile tests and compressive tests were conducted for [90]16 and [0]16 specimens, and the shear tests were conducted for [±45]4s specimens, and the microscopic failure mechanisms were observed by scanning electron microscopy. To research the failure and energy absorption of different thin-walled structures with different layups, the quasi-static axial crushing tests were conducted for [±45/0/0/90/0]s and [0/90]3s circular tubes, [0/90]3s and [±45]3s square tubes, [0/90]4s and [±45]4s sinusoidal specimens, and the internal failure were further investigated by 3D X-ray scan. Based on the load-displacement curves, the energy absorptions were evaluated and compared according to specific energy absorption and peak crushing force, and the relationships between failure modes and specific energy absorption, peak crushing force were further researched. The results show that the macroscopic failure modes are the collective results of varieties of microscopic failure mechanisms, such as fiber fracture, matrix deformation and cracking, interlamination and intralamination cracks, cracks propagation, etc. The [±45/0/0/90/0]s circular tube shows the transverse shearing failure mode with high specific energy absorption. The [±45]3s square tube and [±45]3s sinusoidal specimen show the local buckling failure mode with low specific energy absorption. The [0/90]4s sinusoidal specimen, [0/90]3s circular tube, and [0/90]3s square tube show the lamina bending failure mode with medium specific energy absorption. The failure mode of thin-walled structure can be changed by reasonable layups design, and the energy absorption can further be improved.