The direction of load on the component in engineering applications is often uncertain, so the excellent crashworthiness and smooth load transfer of energy-absorbing structures in various directions is of great application value. Square frustum lattice structure (SFLS) was proposed based on the control of cell deformation mode and the improvement of in-plane strength without increasing the overall mass. Compared with multi-cell tubes commonly used in engineering and origami-patterned structure with excellent performance in research, it is found that the SFLS shows high and stable energy absorption capacity with the same structural parameters. The SEA and CFE of SFLS are 1.7 times and 3.5 times of origami structure and multi-cell tube, respectively, and the fluctuation indicator of the force displacement curve of origami structure and multi-cell tube are 1.7 times and 2.7 times of that of SFLS. In-plane quasi-static compression experiment was carried out and the finite element model was verified. The results of parametric analysis and sensitivity show that, compared with the change of cell number and cell height, the crashworthiness of SFLS under in-plane compression was most sensitive to the ratio of side length, in the range of parameters studied, the maximum SEA value of SFLS can reach 79.35 J/g for k value equal to 0.3, while the best indicator of smoothness of force-displacement curve of SFLS is found at k equal to 0.5.