A non-classical mechanical analysis method was used to derive the equivalent torsional stiffness <GIp> of thick-walled CFRP drive shaft. The equivalent shear modulus calculated by classical lamination theory, finite element analysis method and non-classical mechanical analysis method were compared. Experimental work was carried out on six composite tubes made of same dimensions but different lay-ups. All the results show that the layers with ±45° fiber orientation angle located on the outside of the wall thickness can increase the torsion stiffness of the composite tube. The non-classical mechanical analysis method predicts the torsion stiffness of thick-walled composite tube more precisely than the theory classical lamination, and agree well with experimental results. This method provides a convenient, accurate and fast method for the torsion stiffness.