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In order to avoid the instability of compression support in annular space cable truss structures, a novel full-tension crossed cable-truss structure (FCCTS) is studied. Firstly, according to the geometric shape of cables, the distribution law of cable force in the pre-stressed state is deduced and analyzed by theory. According to the characteristics of the cable force of vertical cables being much smaller than that of upper and lower chord cables, a forming method of tensioning vertical cables, namely, the vertical cable-shortening method (VSM), is proposed. Corresponding node connection devices are also designed and tested. Subsequently, the VSM process for establishing tension is elaborated in detail, and its feasibility is numerically simulated and validated. The results clearly show that VSM can effectively establish the pre-stress state in FCCTS. The VSM has the advantage of low applied tension, making it easier to form structural tension.