The use of metallic dampers is an effective way to reduce seismic responses and dissipate excessive vibration energy for civil structures. Conventional metallic dampers employed energy dissipation by plastic deformation under bending or shear modes are hard to design, and may cause uniform distribution of stress in the metallic components. In this paper, employing the high plastic deformation capacity of aluminum materials, a metallic torsional damper using a gear and rack device (MTDGRD) is proposed to enhance the control effectiveness for the structural response reduction under earthquakes. The static mechanical behavior and energy dissipation of aluminum metallic components under torsional deformation are experimentally studied. Moreover, the configuration and working principle of the proposed damper are introduced. The dynamic behavior of the proposed damper is experimentally studied. For precise modeling in simulations, the elastic-plastic theory of torsional deformation is used to derive the mechanical model of the proposed damper and the model accuracy is validated by experimental data. Finally, numerical simulations under different seismic ground motions controlled by a proposed MTDGRD are compared to that controlled by a conventional tuned mass damper (TMD) for a 10-floor flexible structure. The results show that aluminum 6061# of the energy dissipation capacity is higher than aluminum 1060#. The dynamical tests show that the loading frequency and operational cycles have very limited effect on mechanical behavior and energy consumption capacity of the MTDGRD. The proposed dynamic mechanical model of the MTDGRD has considerable accuracy in numerical simulations and seismic control simulations show the better performance of the proposed damper in reducing structural displacement responses than the conventional TMD with a mass ratio of 0.5 %.