In this paper, the influence of cable slip on the development process of folded cable rod structure is studied. On the basis of a two-node cable element based on catenary analytical solution, the slip stiffness of the cable at the support point is derived. By adjusting the length of the cable segments on both sides of the support point, the cable forces on both sides can meet the coordination relationship, and an analysis method for the motion process of the cable structure is established. In order to verify the correctness of the proposed method, two numerical examples introduced in the literature are analyzed. The analysis results show that the proposed method can simulate cable slip in cable structure correctly and effectively. Finally, the development process of the folding cable-bar structure composed of four-link mechanism and cable is discussed. The results show that the cable slip has a great influence on the structural performance of the cable rod. When the slip of cable is considered, the length of the active cable changes less, and the node coordinates change more.