Calculated torque transmission capability of adhesively bonded tubular lap joints using linear elastic material properties is usually much less than the experimentally-determined one because the majority of the load transfer of the adhesively bonded joints is accomplished by the nonlinear behavior of rubber-toughened epoxy adhesives. Although the adhesively bonded tubular double lap joint has better torque transmission capability and reliability than the single lap joint, the nonlinear analytic or numerical analysis for the adhesively bonded tubular double lap joint has not been performed because of numerical complications. An iterative solution that includes the nonlinear shear behavior of the adhesive was derived using the analytic solution. Since the iterative solution can be obtained very quickly due to the simplicity of the algorithm, it is an attractive method of designing adhesively bonded tubular single and double lap joints.