Transmission of elastic waves through a micro gap between two solids with consideration of frictional contact is investigated. By using the Fourier analysis technique and the corrective solution method, the nonlinear boundary problem is reduced to a set of algebraic equations. Numerical results exhibit the locations and extents of separation, slip, and stick zones, the interface tractions, and the energy partition. The effects of gap width, frictional coefficients, and the incident angle on the wave transmission are discussed in detail. The results show that higher harmonics are generated due to the local contact/slip at the interface.