A two-stage stiffness driveshaft includes a hollow cylinder defined by a longitudinal axis, a first end, a distal second end, and a hollow cylinder stiffness. The driveshaft also includes an inner shaft extending through the hollow cylinder along the longitudinal axis and defined by a first end, a distal second end, and an inner shaft stiffness. The first end of the inner shaft is engaged with the first end of the hollow cylinder via a rotational clearance fit. The second end of the inner shaft is rotationally fixed to the second end of the hollow cylinder such that the first end of the inner shaft can twist to a predetermined angle with respect to the second end of the inner shaft. The inner shaft stiffness defines a first-stage stiffness of the driveshaft, and the inner shaft stiffness and the hollow cylinder stiffness together define a second-stage stiffness of the driveshaft.