Abstract In this paper, the influence mechanism of ultrasound on plastic flow and microstructure features of the aluminum–copper friction stir lap welding (Al/Cu-FSLW) process is systematically investigated by adjusting the welding speed and improving the shear rheology in the plastic stirring zone. Through adjusting the ultrasonic vibration and welding speed, the directional control of mechanical properties is realized. It is found that increasing the welding speed properly is beneficial to enhance the mechanical shear between the tool and the workpiece, thus forming more staggered layered structures at the copper side and improving the tensile strength of the weld. The acoustic softening enhances the viscoplastic fluid mixing and strengthens the mechanical interlock of the Al/Cu lap interface. As the welding speeds increase or ultrasonic vibration is applied, the thickness of Al/Cu intermetallic compound (IMC) decreases, and the tensile strength and elongation of the Al/Cu joints are enhanced. Compared with adjusting the welding speed, the ultrasonic vibration can further refine the copper particles which are stirred into the plastic zone, and the thinning effect of ultrasound on IMC layers is better than that of increasing welding speed. At the welding speed of 60 mm/min, the IMC layer thickness is reduced by 42% under ultrasonic effect. In three welding speed conditions, the UV reduced the absolute value of the effective heat of formation (EHF) for Al 2Cu and Al 4Cu 9 and suppressed the formation of AlCu phase. Meanwhile, only when the welding speed is increased from 60 mm/min to 100 mm/min can the formation of AlCu be suppressed. Under the ultrasonic optimization, the stable improvement of welding efficiency is ensured. Keywords: Al/Cu dissimilar alloys; friction stir lap welding; ultrasonic vibration; welding velocity; intermetallic compounds; plastic flow