Deployable extendable booms are widely used in aerospace technology due to many advantages they have, such as high folded-ratio, lightweight and self-deployable properties. A bistable FRP composite boom can not only extend its tip outwards with a corresponding rotation speed on the hub, but can also drive the hub rolling outwards with a fixed boom tip, which is commonly called roll-out deployment. In a bistable boom’s roll-out deployment process, the second stability can keep the coiled section from chaos without introducing a controlling mechanism. Because of this, the boom’s roll-out deployment velocity is not under control, and a high moving speed at the end will give the structure a big impact. Therefore, predicting the velocity in this whole deployment process is necessary to be researched. This paper aims to analyze the roll-out deployment process of a bistable FRP composite tape-spring boom. First, based on the Classical Laminate Theory, a dynamic analytical model of a bistable boom is established through the energy method. Afterwards, an experiment is introduced to produce some practical verification for comparison with the analytical results. According to the comparison with the experiment, the analytical model is verified for predicting the deployment velocity when the boom is relatively short, which can cover most booms using CubeSats. Finally, a parametric study reveals the relationship between the boom properties and the deployment behaviors. The research of this paper will give some guidance to the design of a composite roll-out deployable boom.