Bolted connections usually govern the structural rigidity and load-carrying capacity of pultruded glass fiber-reinforced polymer (GFRP) truss structures. In this study, a novel bolted integrated gusset plate (IGP) connection is proposed to enhance the stiffness and capacity of GFRP truss structures. Nine double-lap shear tests of GFRP joints and numerical simulation were conducted to investigate the influence of variable design parameters of the bolted GFRP joints (number of bolts, width and thickness of GFRP, edge distance of bolts, and the employment of adhesive). Three full-scale GFRP truss joints were tested under static loading to study the response of a typical bolted connection, a bolted gusset plate connection, and the proposed IGP connection. The nine double-lap shear tests showed that the bolted–bonded mixed connection has 50% higher shear stiffness and 27% higher ductility compared with bolted joints, and bearing failure dominated the capacity of most specimens, which agreed well with numerical simulation results. Tests on the three full-scale GFRP truss joints showed that the bolted gusset plate can substantially reduce the number of cracks and improve the initial stiffness, but the maximum bearing capacity of the joints did not increase because the shear fracture of pultruded GFRP webs governs the capacity. The proposed IGP substantially increased the stiffness and capacity compared with the bolted connection and typical bolted gusset plate connection. The full-scale GFRP joint test is suggested to be used together with direct shear tests to study the performance of joints of the GFRP truss.