Changes in shear velocity can strengthen or weaken the frictional resistance of joints/faults in natural systems, but the mechanism remains unclear. We investigated the shear behavior of a rough basalt fracture in well-controlled, repeatable shear tests under constant and dynamic normal load conditions at different shear velocities. Normal load vibrations, simulating a dynamic normal load, were applied to the upper block of a fractured basalt sample. Simultaneously, a shear load was applied to the bottom block, providing a constant shear velocity. The peak shear strength increased with increasing shear velocity under constant normal load conditions. The peak shear strength decreased at a lower shear velocity under normal load vibrations. When the shear velocity exceeded the critical value, v c , the peak shear strength increased. The apparent coefficient of friction reduced under normal load vibrations. The reduction in the dynamic coefficient of friction increased with increasing shear velocity. We identified a phase shift between the peak normal load and peak shear load with peak shear load delay (D1) and a phase shift between peak normal load and the peak coefficient of friction with the peak coefficient of friction delay (D2). D1 and D2 were dependent on the quasi-static coefficient of friction and shear velocity, and both decreased with increasing shear velocity. D1 decreased with the increasing quasi-static coefficient of friction, while D2 was almost constant with changes in the quasi-static coefficient of friction. A new shear strength criterion was proposed for a rough joint under a constant shear velocity and normal load vibrations.