The adhesively-bonded tubular single lap joint shows large nonlinear behavior in the load-displacement relationship, because structural adhesives for the joint are usually rubber-toughened, which endows adhesives with nonlinear shear properties. Since the majority of load transfer of the adhesively-bonded tubular single lap joint is accomplished by the nonlinear behavior of the adhesive, its torque transmission capability should be calculated using nonlinear shear properties. However, both the analytic and numerical analyses become complicated if the nonlinear shear properties of the adhesive are included during the calculation of torque transmission capabilities. In this paper, in order to obtain the torque transmission capabilities easily, an iterative solution which includes the nonlinear shear properties of the adhesive was derived using the analytic solution with the linear shear properties of the adhesive. Since the iterative solution can be obtained very quickly due to its simplicity, it has been found that it can be used in the design of the adhesively-bonded tubular single lap joint.