In composite fibers, the compression stress perpendicular to the fiber has a significant and complex effect on the fatigue behavior of the composite. In this study, pultrusion glass fiber reinforced polymer (GFRP) plates pre-tightened teeth connection (PTTC) were subjected to fatigue tests (R = 0.2, 0.5) to examine the effect of transverse compression stress on the in-plane shear fatigue behavior. Fatigue test results showed that the GFRP pultrusion tube PTTC of the GFRP matrix composite pultrusion tube had a low-fatigue life and appeared to heat up; it also exhibited longitudinal cracking in the tensile fatigue test with a frequency of only 2 Hz. To explore the cause and mechanism of increase in temperature, herein, the change process and the effect of contact friction and slippage in the tensile fatigue process of the of the GFRP pultrusion tube PTTC was examined using simplified tests and numerical analyses. The findings of this study can provide insights for improving the static bearing capacity and fatigue performance of PTTCs.