The joining of dissimilar titanium and aluminum alloys has potential applications in railway and aerospace industries, owing to substantial weight reduction and better economic viability. In this study, the residual stress distribution and local mechanical performance of ultrasonic-assisted resistance spot welding (UaRSW) welds were investigated. The welding current, welding time, and electrode force of the RSW process were set as 9.0 kA, 350 ms, and 1.0 kN respectively, and the frequency and power of ultrasonic vibration were 20 kHz and 800 W. The residual stress was evaluated by X-ray diffraction (XRD) method and numerical simulation, and these methods showed a reasonable match. There was tensile residual stress distributed on RSW welds and UaRSW welds, but the value of residual stress was reduced by about 30% at welding nugget and 20% at heat affected zone (HAZ) with the ultrasonic vibration, the reduction of residual stress in UaRSW welds was attributed to the more uniform temperature distribution and lower plastic deformation resistant of AA6061. The welding peak temperature was decreased from 1673.4 °C to 1584.2 °C with the ultrasonic vibration, resulted from the modified Al/Ti contact surface and reduced contact resistance. The miniature tensile test results showed the improvement of mechanical performance by ultrasonic vibration. The maximum load of welding nugget region increased from 19.6 N to 22.3 N, and the elongation obtained 10% increase. This hybrid welding technique shows a potential to improve the quality of welds with ensured efficiency, which is also simple to realize automation in the manufacturing industry.