In view of the problems of low accuracy, small rotational angle, and large impact caused by flexure joints during the deployment process, an integrated flexure revolute (FR) joint for folding mechanisms was designed. The design was based on the method of compliance and stiffness ellipsoids, using a compliant dyad building block as its flexible unit. Using the single-point synthesis method, the parameterized model of the flexible unit was established to achieve a reasonable allocation of flexibility in different directions. Based on the single-parameter error analysis, two error models were established to evaluate the designed flexure joint. The rotational stiffness, the translational stiffness, and the maximum rotational angle of the joints were analyzed by nonlinear finite element analyses. The rotational angle of one joint can reach 25.5° in one direction. The rotational angle of the series FR joint can achieve 50° in one direction. Experiments on single and series flexure joints were carried out to verify the correctness of the design and analysis of the flexure joint.