The texture distribution along the generatrix of the inner and outer surfaces of aluminum alloy shaft pipes contributes to enhancing their fatigue resistance. To investigate the surface texture generation mechanism and effectively control the texture characteristics, this paper performs a numerical simulation of the material removal process during abrasive belt grinding, based on the kinematic and dynamic analysis of the grinding process and the distribution  haracteristics of abrasive grains on the belt surface. Simulations were conducted on the surface morphology of the inner and outer surfaces of the shaft pipe under different abrasive belt mesh numbers, belt speeds, and workpiece rotational speeds. Experimental validation was carried out, and the three-dimensional surface morphology was measured using a laser confocal microscope and a scanning electron microscope. The effects of abrasive belt mesh number, belt speed, and workpiece rotational speed on surface morphology were analyzed. The results show that abrasive belt grinding is suitable for machining the generatrix texture on the inner and outer surfaces of aluminum alloy shaft pipes, with plastic scratches being the primary surface feature and a shallow subsurface deformation depth. Within the range of experimental parameters, effective control of surface roughness and texture characteristics of the inner and outer surfaces of the shaft pipe was achieved by adjusting the abrasive belt mesh number, belt speed, and workpiece rotational speed.