In this paper, the periodic motion, bifurcation and chatter of two-degree-of-freedom vibratory system with dry friction and clearance were studied. Slip-stick motion and the impact of system motions were analyzed and numerical simulations were also carried out. The results showed that the system possesses rich dynamics characterized by periodic motion, stick-slip-impact motion, quasi-periodic motion and chaotic attractors, and the routs from periodic motions to chaos observed via Hof

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... or period-doubling bifurcation. Furthermore, it was found that there exists the chatter phenomena induced by dry friction in low frequency, and the windows of chaotic motion are broadened in the area of higher excitation frequencies as the dry friction increases.