Three-dimensional finite element models have been created to study the effect of layer orientation on the strength and stiffness of carbon fibre reinforced epoxy laminate tube clamped in metal tube. The model of the laminate tube was validated by comparison of deflection and natural frequencies with experimental results. Furthermore, the failure of clamped laminate tube was investigated experimentally and compared with results of numerical model using failure criterion LaRC04. The optimization of the layer fibre orientation was performed in case of purely clamped tube and then in case of simultaneous clamping, bending and torsional loading.