The present invention relates to a tube fastening structure for fastening a tube in a radiant floor heating system, the tube fastening structure comprising a bottom layer and at least one fastening element. The bottom layer is fixed on ground and has a surface of loop members. The fastening element has a plurality of hook members on a first surface thereof, and the plurality of hook members are configured to be mechanically fastened to the surface of the loop members of the bottom layer. After the tube is placed on the bottom layer, the fastening element is configured to fasten the tube in a manner of surrounding the tube by a mechanical fastening between the plurality of hook members and the surface of the loop members of the bottom layer.