When carbon-fiber-reinforced plastic (CFRP) and steel are joined using blind riveting and bolting, fastener inclination occurs due to the clearance between the fastener and hole. To this end, this study investigated the unavoidable occurrence of clearance when joining metal and composite materials using mechanical fastening. The effect of inclination on the lap shear strength (LSS) was quantitatively investigated under various conditions. In riveting, breakage occurred mainly in the rivet; the LSS between the CFRP and steel improved by approximately 33% when the clearance was filled with structural adhesive compared to that in the unfilled state. In bolting, a washer was essential since it not only reduced the force exerted on the bolt but also reduced the bending deformation of the steel plate where breakage occurred. The clearance-filling effect showed the same effect as using a washer even without using it. In addition, the LSS was improved by approximately 10% by filling the clearance with a structural adhesive in the case of bolting with washers. Additionally, the force distribution for the fastening segment was calculated under the application of an external force, and the results demonstrated that hybrid-bonded fastening using a clearance-filling during mechanical bonding is essential for strong fastening.