Conventional uniform-thickness expansion-tube energy-absorbing structures suffer from excessively high initial peak crushing forces (IPCFs) and sub-optimal energy absorption efficiency. Inspired by the gradient stiffness characteristics of the inter node-to-node structure in Buddha’s Belly Bamboo, this study proposed an expansion-tube energy-absorbing structure design featuring a gradient stiffness. An LS-DYNA finite element simulation model was first established, validated through experimental results, and subsequently subjected to multi-objective optimization. The analysis results demonstrate that the stiffness-gradient expansion-type energy-absorbing structure designed in this study not only effectively reduces the IPCF during energy absorption but also further enhances its buffering and specific energy absorption (SEA).