5-(3-Amino-1, 2, 5-oxadiazol-4-yl)tetrazol-1-ol (4) as well as its ammonium salt (5), and hydroxylammonium salt (6) were synthesized with high yield from malononitrile as raw material via diazotization, addition, and cyclization reactions. Their structures were characterized by infrared (IR) spectra, nuclear magnetic resonance (NMR), elemental analyses, and X-ray single-crystal diffraction(XRD). The impact and friction sensitivities of compounds 4, 5 and 6 were tested using the drop hammer method and friction sensitivity tester. The thermal stabilities of compounds 4, 5 and 6 were studied by DSC. Results show that a large number of intramolecular and intermolecular hydrogen bonds for compounds 4, 5 and 6 are formed. These hydrogen bonds have an important influence on their structure, density, thermal properties and sensitivities, especially all hydrogens in the molecule of compound 6 participate in hydrogen bond formation, resulting in compound 6 has a relatively high density (1.786 g·cm^-3). Compounds 4, 5 and 6 exhibit low impact and friction sensitivity and good thermal stabiliy and can be used as environmentally friendly and new-generation insensitive energetic materials.