Abstract In order to investigate the dynamic response characteristics of composite rock with different joint angles, static compression test and dynamic impact test are carried out using WDW-300E servo pressure-testing machine and split Hopkinson pressure bar (SHPB) test system. The dynamic compressive strength, energy dissipation, and failure modes are compared between rock coal (R-C) and coal rock (C-R). Furthermore, a 3D SHPB simulation system is constructed using coupling finite difference method and discrete element method (FDM-DEM) to reproduce the energy evolution and failure modes of composite rock with different joint angles, and the fabric tensor is obtained based on secondary development. Finally, a constitutive model of composite rock is established considering joint angles. The results of experiment, simulation, and theoretical analysis show that for the case of uniaxial compression test, with the increase of joint angle, the peak stress of composite rock shows obvious U-shaped change, and the elastic modulus increases gradually while the peak strain decreases gradually. For the case of dynamic impact test, the peak stress, strain, and energy dissipation values of composite rock decrease first and then increase with the increase of angle, and the elastic modulus of composite rock increases monotonically after a slight fluctuation of 30°. The stress, energy dissipation and elastic modulus of composite rock R-C are larger than that of composite rock C-R. However, the strain value of composite rock R-C is generally less than of composite rock C-R. The failure mode of composite rock with small and large angle is mainly splitting under dynamic impact, and the fracture fragmentation is relatively small with high energy absorption rate, while the fracture fragmentation is mainly shear and splitting mixed failure with low energy absorption rate. The energy accumulation and transformation process inside the composite rock are analyzed by 3D simulation system, and the damage of the composite rock under impact is mainly concentrated on the coal side, and peak values of contact number and contact force with different joint angles are calculated by using fabric tensor. Based on Weibull distribution, a constitutive model of composite rock is constructed considering initial damage and dynamic failure effect, which is in good agreement with experimental and simulation results, verifying the correctness of the constructed model.