A kind of magnetorheological (MR) clutch in compression-shear mode was designed and an experiment device was fabricated to test its transmission performance. Firstly, working principle of MR clutch was introduced. Secondly, distribution characteristic of magnetic flux intensity of magnetic circuit was analyzed with ANSYS finite elements analysis software. Finally, experiment testing device was established to test static transmission performance and dynamic response characteristics of MR clutch. Experiment result indicates that influence of rotational speed on torque of MR clutch is not obvious, while influence of current and normal stress on torque of MR clutch is great. Moreover, the torque increases with increase of current and normal stress; torque of MR clutch in compression-shear mode can reach 146 Nm, increasing by about 6.6 times than that in only model of shearing when mormal stress is 150 kPa under current of 1.0 A and rotational speed of 40r/min; response time constant decreases with increase of the current (current is less than 0.6 A), later current influence is not obvious; response time decreases with increase of normal stress and rotational speed; overall connection response time is within 77 ms. Transmission performance of the developed MR clutch in compression-shear mode is well and control is sensitive.