Abstract Rock joints are susceptible to slip instability due to dynamic load disturbances such as blasting, earthquakes, and fracturation. A series of direct shear tests under the dynamic load were conducted on sandstone plane joints using the RDS-200xl. The work investigated the effects of normal static loads and normal dynamic-load frequencies and amplitudes on plane joints. Besides, the following items were proposed, that is, the peak-to-valley response rate, shear velocity vibration dominant frequency, shear-stress reduction coefficient, and discrete element numerical simulation method for plane-joint direct shear tests. The results were as follows: (1) The normal dynamic load frequency played a role in attenuating the shear stress amplitude with a threshold value of 0.5 Hz. (2) The shear velocity of the plane joint was completely controlled by the high normal dynamic load frequency. Their vibrational dominant frequencies were identical. (3) The amplitude of shear stress increased, and the median stress decreased with the increased normal dynamic load amplitude. The reduction-coefficient equation for sandstone plane joints was proposed to evaluate the shear stress under the normal dynamic load disturbance. (4) The shear-stress hysteresis phenomenon existed in the plane joints under the normal dynamic load, which required excessive shear displacements to reach peak shear strength. The peak shear displacement increased with the increased normal static load. Numerical simulations and indoor tests showed that high- and low-shear-velocity regions were the main reason for shear-stress hysteresis. The findings are conducive to revealing the shear destabilization mechanism of rock joints under dynamic load disturbance.