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In light of the low yields and complex reaction routes of some well-known 5,5-fused and 5,6-fused bicyclic compounds, a series of 5,7-fused bicyclic imidazole-diazepine compounds were developed with high yields by only two efficient steps. Significantly, the seven-membered heterocyclic ring has a stable energetic skeleton with multiple modifiable sites. However, the 5,7-fused bicyclic energetic compounds were rarely reported in the area of energetic materials. Three neutral compounds 1, 2 and 4 were synthesized in this work. To improve the detonation performances of the 5,7-fused neutral compounds, corresponding perchlorate 1a and 2a were further developed. The physicochemical and energetic performances of all newly developed compounds were experimentally determined. All newly prepared energetic compounds exhibit high decomposition temperatures (Td: 243.8–336 °C) and low mechanical sensitivities (IS: >15 J, FS: >280 N). Among them, the velocities performances of 1a (Dv = 7651 m/s) and 4 (Dv = 7600 m/s) are comparable to that of typical heat-resistant energetic material HNS (Dv = 7612 m/s). Meanwhile, the high decomposition temperature and low mechanical sensitivities (Td = 336 °C; IS = 32 J; FS > 353 N) of 4 are superior to that of HNS (Td = 318 °C; IS = 5 J; FS = 250 N). Hence, the 5,7-fused bicyclic compounds with high thermostability, low sensitivities and adjustable detonation performance have a clear tendency to open up a new space for the development of heat-resistant energetic materials.