Pd membranes were deposited on porous YSZ-Al₂O₃ tubes after different modification methods using an electroless plating technology. SEM, AFM, XRD and gas permeation tests were applied to investigating the effects of different modification methods on the surface quality of porous tubes and the permeation performance of the Pd composite membranes. The results showed that the surface of the porous tubes after the two-step CeO₂ modification exhibited smaller pore distribution and roughness. Pd membranes on the porous tubes after the two-step CeO₂ modification exhibited higher hydrogen permeation flux (0.549 mol·m^-2·s^-1) and H₂/N₂ selectivity (14241) at 500 °C and a pressure difference of 700 kPa. The results of different thermal cycling tests and the long-term permeation tests of 1000 h showed that Pd membranes on the porous tubes after the two-step CeO₂ modification had higher permeation stability.