In this paper, the problem of finite deformation of a cylindrical rubber tube with an internal rigid tube is examined, where the rubber tube is subjected to axial loads on its two ends. A reasonable mathematic model is formulated by using the nonlinear field theory. Then, the implicit solutions that describe the cases of tension and compression are derived. The influence of end loads, thickness and length on the finite deformation is discussed in detail. Numerical simulations are given simultaneously. It also shows that for a large domain of the middle part of the tube, the deformation is very close to a uniform case, but near the two ends of the tube, the change is very fast, which coincides with the mechanical backgrounds.