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Failure mode and fatigue behavior of flow drill screw (FDS) joints in lap-shear specimens of aluminum 6082-T6 sheets with and without clearance hole are investigated based on experiments and a structural stress fatigue life estimation model. Lap-shear specimens with FDS joints were tested under cyclic loading conditions. Optical micrographs show that the failure modes of the FDS joints in specimens with and without clearance hole are quite similar under cyclic loading conditions. The fatigue lives of the FDS joints in specimens with clearance hole are longer than those of the FDS joints in specimens without clearance hole for the given load ranges under cyclic loading conditions. A structural stress fatigue life estimation model is adopted to estimate the fatigue lives of the FDS joints in lap-shear specimens under high-cycle loading conditions.