A dynamic insertion (DI) method of CFRP interference fit bolts based on an electromagnetic riveter was developed to improve the quality of bolt-hole contact interface and enhance the bearing capacity of the joints. The experiments were conducted to investigate the insertion process for the DI method, and the corresponding static insertion (SI) method was also investigated as comparison. The insertion force-displacement response during the interference fit bolt insertion process was measured. The effects of the insertion method and the interference fit sizes on the insertion damage of the laminate were evaluated from macroscopic and microscopic perspectives. Moreover, the quasi-static tensile properties of joints after DI and SI were compared, the effect of DI method on the joint properties was assessed, and the mechanism of the DI method in joint performance improvement was initially discussed. Results show that DI method can significantly reduce the interference fit insertion resistance compared to SI method, and the larger the interference size the larger the reduction ratio. Furthermore, the DI method improves the quality of the bolt-hole contact interface. In static tensile test, the DI specimens exhibited higher ultimate strength and joint stiffness than the SI specimens.