Research to quantify the energy absorption of empty and foam-filled tubes under oblique loading with different loading angles and geometry parameters was carried out. Tests on circular tubes made of aluminum alloy AA6063 under quasi-static axial or oblique loading were performed. The collapse behavior of empty, foam-filled single and double tubes was investigated at loading angles of 0°, 5°, 10° and 15° with respect to the longitudinal direction of the tube. The tubes were fixed at both ends and oblique load was realized by applying a load at the upper end of a pair of specimens. When the foam-filled tubular structures subjected to oblique quasi-static loading, some new deformation modes, such as spiral folding mode, irregular extensional folding mode and irregular axi-symmetric or diamond deformation mode, were identified and ascribed to the bending of tubes and shearing of foam filler, as well as the interaction between the tubes and the foam. The energy absorption characteristics of empty and foam-filled single and double tube structures with respect to the load angle and wall thickness are determined. It is found that the energy-absorbing effectiveness factors of the circular tube structures with aluminum foam core are significant higher than those of the empty tubes and the energy absorption capacity of the foam-filled double tubes is better than that of the empty and foam-filled single tubes.