This paper introduces an experimental and numerical investigation into hollow cylindrical thin-walled glass fibre reinforced epoxy matrix composite shafts produced by using both pre-preg wrapping and filament winding methods. The filament wound samples were manufactured with four different helix angles ([±30]FW, [±45]FW, [±60]FW, and [±75]FW ), whereas [0, 90]PP pre-pregs was utilised for producing the wrapped kind of samples. In order to assess the quasi-static failure responses, the samples were subjected to increasing amount of torsional load at a fixed angular rotation speed. The experimental findings of [±30]FW, [±45]FW, and [±60]FW samples were found to be very compatible with those obtained via Finite Element Analysis (FEA). Contrarily, the numerical model were not able to describe accurately the load—displacement behaviour of [±75]FW and [0, 90]PP with the exception of the initial loading phase. [±45]FW was found as the most favourable option for designers in terms of torsional stiffness. Whereas, those characterised by [±30]FW, and [±60]FW exhibited very close torsional resistances in a difference range of only 5%. [0, 90]PP exhibited the lowest average torsional failure resistant and stiffness but the highest average rotation angle before rupture.