In order to study the effect of the support mode of a staggered truss system on the continuous collapse resistance performance of a steel structure, four finite element models were established based on the bracing arrangement of a five-story steel frame structure. The situations of different columns on the first floor removed were classified into eight scenarios, and five models of each scenario were analyzed with nonlinear dynamic analyses. Finally, a computational metric based on energy robustness was proposed to evaluate the robustness of the structure. The results of nonlinear dynamic analyses indicated that the staggered truss system significantly improved the resistance to progressive collapse of steel frame structures and effectively increased the redundancy of steel frame structures. All four bracing methods effectively reduced the vertical displacement at the point of failure, with the peak displacement at the point of failure reduced by a maximum of 84 percent and a minimum of 41 percent compared to a pure frame structure. Moreover, the staggered truss system can reduce some axial force peaks in the adjacent columns adjacent to the failed columns. The structural robustness coefficients of Model A, Scheme 1, Scheme 2, Scheme 3, and Scheme 4 are 1.144, 1.339, 1.306, 1.584, and 1.176, respectively, according to the proposed robustness calculation method, which shows that the braced steel frame structure has improved robustness over the original structure. The staggered truss system improves the robustness of the steel frame structure so that the steel frame structure has better resistance to progressive collapse.