A series of undrained cyclic torsional shear tests was conducted to investigate the effect of cyclic loading frequency on the liquefaction characteristics of saturated sand using a hollow cylinder apparatus. The test results show that the dilative and contractive tendencies of various saturated sands are not only related to the physical properties of the sand, but are also affected by loading frequency. Under low-frequency loading, the saturated sand has a dilative behaviour, excess pore water pressure fluctuates after initial liquefaction and the soil maintains the ability to resist liquefaction to some extent after the initial liquefaction. The liquefaction mode in terms of the stress–strain relationship generally performs as the ‘cyclic mobility’. However, under high-frequency loading, the saturated sand has a contractive behaviour, and excess pore water pressure generally remains stable after the initial liquefaction. The liquefaction mode in terms of stress–strain relationship generally exhibits as ‘cyclic instability’. The deformation caused by low-frequency loading is significantly larger compared with that caused by high-frequency loading. At higher loading frequencies, the phase transformation stress ratio increases with the increase of loading frequency, and gradually approaches the failure stress ratio.