Abstract The options for joining aluminum (Al) alloy to ultra-high strength steels are extremely limited due to the great differences in their thermophysical properties. In this work, a novel process, e.g., resistance rivet welding (RRW), was proposed to join Al alloys to press hardened steels (PHS) through combining traditional self-piercing riveting and resistance spot welding. The materials plastic flow, element diffusion and nugget growth characteristics during RRW were studied in depth to reveal the nugget formation mechanism. It was found that in RRW process, the intercepted Al alloy, internal wall of rivet shank and PHS near the faying surface were melted together and produced a unique Al/steel mixed nugget. The microstructure of the mixed nugget was equiaxed ferrite with a large number of B2-structured intermetallic compounds (IMCs) FeAl dispersed within it. The competition between the nugget and Al sheet determined the joint mechanical performance. The nugget dominated joint strength when the heat input is comparatively low while the Al sheet played a significant role with the increase of heat input.