Abstract: To investigate the damage in self-piercing riveting (SPR) of carbon fiber reinforced polymer (CFRP) and aluminum alloy, three groups of SPR joints with typical ply angles were prepared, and the effects of ply angles on the macroscopic damage morphology of joints were studied. The effects of temperature on the mechanical properties and failure of CFRP were studied. Based on the thermal mechanical properties of CFRP, the warm self-piercing riveting (WSPR) process for CFRP and aluminum alloy was innovatively proposed for the purpose of reducing joint damage. The damage difference of CFRP in the joint obtained by two riveting processes was compared. The effect of ply angle on mechanical properties and failure process of WSPR joints in CFRP and aluminum alloy was investigated. The results show that macro-cracks tend to appear in the area near the rivet head at room riveting temperature, mainly in the form of matrix cracks parallel to the fiber direction and fiber cracks perpendicular to the fiber direction. At the glass transition temperature of the resin matrix, the ductility of CFRP in transverse and shear directions is greatly improved, resulting in no macro-cracks on the surface of CFRP sheet, and the delamination area is reduced in the WSPR joints. The ply angle affects the tensile-shear properties and failure process of the joint and the joint with 0/90/0_s laminated structure has the optimist mechanical properties.