Abstract: In order to study the nonlinear dynamic characteristics of a pipe conveying fluid with hysteretic supports, the hysteretic forces acting on the pipe was introduced into Hamilton's energy equation in the principle of virtual work, and the nonlinear dynamic equations of cantilevered pipes conveying fluid were derived. Then, numerical simulation was made to analyze the complex dynamic responses of the system and the effect of hysteretic characteristic parameters on the dynamic behaviors of the system. The results show that the cantilevered pipe conveying fluid with hysteretic supports has an extremely complicated dynamic behavior: when the dimensionless fluid velocity reaches 9.5, 14.6, 15.5, and 17.2, structural responses of buckling, flutter, chaos, and jump would occur to the system respectively; and the stronger the energy dissipation of the hysteretic supports is, the wider the parametric range of the complex responses is.