In engineering practice, tubular connections are usually assumed pinned or rigid. Recent research showed that tubular joints may exhibit non-rigid behavior under axial or bending loads. This paper is concerned with establishing a new classification for tubular joints and investigating the effect of joint rigidity on the global behavior of CHS (Circular Hollow Section) lattice girders. Parametric formulae for predicting tubular joint rigidities are proposed, which are based on the finite element analyses through systematic variation of the main geometric parameters. Comparison with test results proves the reliability of these formulae. By considering the deformation patterns of respective parts of Vierendeel lattice girders, the boundary between rigid and semirigid tubular connections is built in terms of joint bending rigidity. In order to include characteristics of joint rigidity in the global structural analysis, a type of semirigid element which can effectively reflect the interaction of two braces in K joints is introduced and validated. The numerical example of a Warren lattice girder with different joint models shows the great effect of tubular joint rigidities on the internal forces, deformation and secondary stresses.