An improved numerical formulation for a self-centering frictional damper is presented. This was experimentally validated through quasi-static tests carried out on a steel-made prototype of the damper. Its design is ad hoc for implementation in the seismic protection of industrial storage racks. The conceptual model of the device was adjusted to the prototype built. The formulation of the analytical model, a parametric analysis of it, and the validation with experimental results are presented. The improvement of the model presented here explicitly considers elements included in the prototype, such as a system of load transmission rings and the friction between all of the components that slide or rotate relatively. In the experimental validation, the parameters of the improved model were determined. The numerical predictions for the improved model were contrasted with those obtained with the original one and with the experimental results. This demonstrates that the improvement leads to a better adjustment of the numerical predictions concerning the experimental measurements, which is useful for nonlinear analysis. The device withstood forces of considerable magnitude in addition to dissipating enough energy per load–unload cycle to be effective in the seismic protection of industrial storage racks.