This study aims to investigate the crashworthiness performance of a novel hierarchical multi-cell double circular tubes (HMDC) structure under axial impact. Various dual-tube structures of different cross-sections were designed. The effects of hierarchical order, peak number of the core column, and inner circle diameter on the structure were analyzed using Abaqus finite element analysis. The results indicate that in dual-tube structures, replacing the traditional multi-cell structure with a hierarchical multi-cell structure in the interlayer significantly improves energy absorption (EA) characteristics. With the inner circle diameter of the HMDC fixed at 20 mm, the ratio of mean crushing force (MCF) to peak crushing force at the third order increased by 70.70% and 35.68% compared to the first and second orders, respectively. Experimental results and finite element results show that the initial peak value differed by 1.47%, indicating a close match between the experimental and simulation results. The parametric study shows that the inner circle diameter and the peak number of the core column significantly affect EA. The findings of this study provide effective guidance for designing multi-cell dual circular tubes with high EA efficiency.