The bolted joint structures are frequently adopted in the launch vehicles and missiles design. Such structures have the nonlinear characteristics in deforming. The linear modeling and analysis are often used in the realistic engineering for such structures, which can not reflect the nonlinear characteristics of the structures and results in some modeling error. The good results can be gotten by use of the numerical method of the nonlinear FEM modeling with the contact model, but such methods have the disadvantage that the models is very complex, the amount of the calculation for solving is great and the analytical solution is not achieved for some regular results. In this paper, the nonlinear analytical model for the bolted joint structures’ dynamics is proposed; the dynamic characteristics of the structure are researched based on the model; some general regularity for the dynamic characteristics of the launch vehicles and missiles with the bolted joint structures is gotten, that may well explain the phenomena reached in the engineering. The model proposed in this paper can be used not only in the analytical method, but also in the numerical method which can be greatly simplified.