<p>CFRP/metal composite class origami thin-walled square tubes filled with polyurethane foam are a new energy-absorbing component. This paper uses a combination of numerical simulation and quasi-static axial compression test to study the damage modes and energy-absorbing mechanisms of metal square tubes, metal class origami square tubes, and carbon fiber square tubes. It also explores the effects of factors such as foam filling, fiber winding angle, fiber circumferential-axial winding ratio, dihedral angle degree, and number of essential pattern layers on the damage modes and energy absorption mechanisms of the components. The results show that introducing the class origami pattern into a single metal square tube can change its damage mode from non-compact crushing to compact crushing. Filling the composite tube with polyurethane foam can result in more complete destruction of the carbon fiber tube and reduce the effective length of wrinkles on the metal tube, thereby significantly improving the total energy absorption of the composite tube. The fiber winding angle has a significant impact on the components: when the fiber winding angle is less than 45°, the potential energy release of the composite tube is incomplete, with low energy absorption efficiency and poor overall stability; when the fiber winding angle is greater than 45° and less than 90°, the potential energy release of the composite tube is sufficient and it has good axial folding and buckling consistency. The appropriate increase in the fiber circumferential-axial winding ratio, dihedral angle degree, and number of essential pattern layers can all improve the energy absorption capacity of CFRP/metal composite class origami thin-walled filled members. This study demonstrates the potential of CFRP/metal composite class origami thin-walled filled members as energy absorbers, aiming to provide a reference for origami design and composite energy-absorbing structure design.</p>