An elasto-plastic constitutive model is introduced for rock joints under cyclic loading, considering the additional shear resistance generated by the asperity damage in the first forward shear cycle and sliding mechanism for further shearing. A series of cyclic loading direct shear tests was conducted on artificial joints with triangular asperities and replicas of a real rock asperity surface under constant normal stiffness (CNS) conditions. The model was calibrated and then validated using selected data sets from the experimental results. Model simulations were found to be in good agreement with the rock joints behaviour under cyclic loading and CNS conditions both in stress prediction and dilation behaviour. In addition, dynamic stability analysis of an underground structure was carried out, using Universal Distinct Element Code and the proposed constitutive model.