Tensegrity metamaterials are recognized as significant in mechanical engineering due to their exceptional variable stiffness, adaptive load-bearing capabilities, and other distinctive properties. This chapter presented a novel negative Poisson’s ratio tensegrity metamaterial. Its substructure consisted of a D-bar tensegrity structure and a rotating double-square negative Poisson’s ratio structure. Firstly, the D-bar tensegrity structure’s geometric model was established assuming small deformation. The pretension relationship between the structure’s tension elements was obtained. Experiments were carried out to investigate the effects of structural angle, hinge rigidity–flexibility characteristics, and pretension of tension elements on the compressive load-displacement characteristics of the tensegrity metamaterial substructure. Then, the influence of the tensegrity metamaterial substructure’s angle on the energy absorption effect was analyzed. The energy absorption of the tensegrity metamaterial (TM) substructure was compared to that of the rotating double-square (RD) substructure. The results showed that the energy absorption index of the tensegrity metamaterial structure with negative Poisson’s ratio characteristics increased by 47.32%.