Liquid hydrogen, a promising energy carrier, necessitates robust storage and transportation systems due to its extremely low boiling point. Consequently, the development of reliable cryogenic adhesives and standardized testing protocols is crucial. This study focused on optimizing the design of a gripper used in single lap shear tests for evaluating cryogenic adhesives, specifically targeting the challenges posed by low-temperature conditions that induce slippage at the gripper interface. The optimal design was performed using a total of five variables, including the position and size of the gripper. By employing the genetic algorithm coupled with finite element analysis, we exhaustively searched through over 1000 models to identify the optimal gripper geometry. We successfully minimized stress concentration at the gripper region while maintaining a uniform stress distribution on the non-bonded surface. Furthermore, the study explored the impact of symmetric versus asymmetric gripper configurations on test results. The findings revealed that symmetric grippers generally yielded more consistent and reliable data. This study's results enable the accurate and stable execution of lap shear tests under the temperature conditions of liquefied hydrogen.