In order to study the energy evolution characteristics and damage constitutive relationship of siltstone, the conventional triaxial compression tests of siltstone under different confining pressures are performed, and the evolution laws of input energy, elastic strain energy and dissipative energy of siltstone with axial strain and confining pressure are analyzed. According to the test results, the judgment criterion of the rock damage threshold is improved, and an improved three-shear energy yield criterion is proposed., The damage constitutive equation of siltstone is established based on the damage mechanics theory through the principle of minimum energy consumption and by considering the residual strength of rock, and lastly, the rationality of the model is verified by experimental data. The results reveal that (1) both the input energy and dissipative energy gradually increase with the increase of axial strain, and the elastic strain energy first increases and then decreases with the increase of axial strain, and reaches its maximum at the peak. (2) The input energy and dissipation energy increase exponentially with the increase of the confining pressure, and the elastic strain energy increases linearly with the increase of confining pressure. (3) According to the linear relationship between the sum of shear strain energy and hydrostatic pressure, an improved three-shear energy yield criterion is established. (4) The model curve can better describe the strain softening stage and the residual strength characteristics of siltstone. The relative standard deviation between the model results and the test results is only 4.35%, which verifies the rationality and feasibility of the statistical damage constitutive model that is established in this paper.