To investigate the forming quality and static mechanical properties for self-piercing riveted (SPR) joints of DP590 steel and AA6061 aluminum alloy, the simulation of self-piercing riveting was conducted by the finite element software Simufact Forming, and the self-piercing riveting test verification was conducted by using self-piercing riveting equipment. Then, the static tensile tests were also carried out on the joints. The results show that when the stacking order of connecting sheets is the same, the forming quality of joint has a better changing trend as the rivet leg length increases within a certain respectively range. When the rivet leg length is the same, the self-locking length of the joint whose upper and lower connecting sheets are DP590 steel and AA6061 aluminum alloy respectively is greater than the self-locking length of the joint after the stacking order is interchanged. When the rivet leg length is 6.0 mm, the self-locking length of group No.2 point is greatest. The stacking order of the connecting sheets is the most important factor affecting the self-locking length of the joints, and the finite element simulation result is consistent with the test verification result. The maximum static load values of group No.2 and No.3 joints are greater than those of group No.2E and No.3E joints, respectively, and group No.2 joint has the best tensile resistance. The self-locking length is the most important parameter affecting the static mechanical properties of the joints. From the macroscopic morphological observation, the tensile failure mode of the joints is self-locking failure, and from the microstructure of the typical tensile failure fracture, it is found that the fracture of the upper connecting sheet has a dimple structure and there are a large number of micro-particles in the self-locking area of the rivet hole on the lower connecting sheet, this is because that a serious fretting wear in the self-locking area when the self-piercing riveted joint fails in tension.