The damage and failure of rock under triaxial stress is an irreversible process of energy dissipation, which mainly includes plastic energy dissipation and damage energy dissipation. However, it is difficult and rare to separate plastic energy dissipation and damage energy dissipation and to conduct relevant research on this basis. In this work, a loading control method with a combination of load (0.5 kN/s) and circumferential deformation (0.01 mm/min) was used, and triaxial cyclic loading and unloading tests under five different confining pressures were performed on granite from the Beishan site area of China's high-level radioactive waste repository. The results indicate that the angle between the main fracture surface and the longitudinal axis increases with the increase of confining pressure. According to the characteristics of the stress–strain curve and energy dissipation, the test process can be divided into five stages: the initial compaction and elastic stage, the stable crack growth stage, the unstable crack growth stage, the postpeak unstable fracture stage and the residual stress stage. Importantly, a separate determination method of plastic energy dissipation and damage energy dissipation was proposed, and the evolution characteristics of plastic energy dissipation and damage energy dissipation were revealed. The ratio of plastic energy dissipation to input energy decreases slightly in the initial compaction and elastic stage, stabilizes at a low level in the stable and unstable crack growth stages, increases significantly in the postpeak unstable fracture stage and remains at a high level in the residual stress stage. Meanwhile, the ratio of damage energy dissipation to input energy increases slightly before the unstable crack growth stage, increases abruptly at the end of the unstable crack growth stage and the initial part of the postpeak unstable fracture stage, then declines rapidly, and finally remains at a low level. Furthermore, the qualitative and quantitative research results of damage evolution show that the plastic shear strain and damage variable established by damage energy dissipation can qualitatively and quantitatively describe the damage evolution of Beishan granite respectively. Finally, the verification results of Beishan granite and two other rock types show that the separation method for calculating plastic energy dissipation and damage energy dissipation proposed in this work has good adaptability, and the qualitative damage development analysis based on plastic shear strain can be verified and supplemented with the quantitative damage development analysis based on energy theory.