Several novel multi-layer lattice-web reinforced composite cylinders, consisting of glass fiber reinforced polymer (GFRP) face sheets and lattice webs, polyurethane (PU) foam core and clay ceramsite filler, were proposed and manufactured using a vacuum assisted resin infusion process (VARIP) method. A series of quasi-static lateral compressive experiments were carried out to investigate the feasibility of the proposed cylinders. For both the hollow composite cylinders and ceramsite filling composite cylinders, the bearing capacity and energy absorption performance can be significantly improved with the use of multi-layer lattice-web layouts. Among the proposed three types of lattice-web layouts, the double-layer dislocated lattice-web layout made the composite cylinder exhibit the greatest specific energy absorption (SEA) performance and can be chosen as an optimal configuration. Furthermore, numerical models were established using LS-DYNA software to simulate the large deformation of the composite cylinders with double-layer dislocated lattice-web layout. Based on the numerical models, parametric analysis was carried out to discuss the effects of various parameters on the crushing response of the composite cylinders. Generally, using thicker GFRP material or higher radial lattice web can make the composite cylinders present an increased likelihood of brittle failure. However, filling ceramsite can not only make them exhibit plastic deformation characteristics but also facilitate the full utilization of various components.