Amorphous materials undergo a transition from liquid-like to solid-like states through processes like rapid quenching or densification. Under external loads, they exhibit yielding, with minimal structural changes compared to crystals. However, these universal characteristics are rarely explored comprehensively in a single granular experiment due to the added complexity of inherent friction. The discernible differences between static configurations before and after yielding are largely unaddressed, and a comprehensive examination from both statistical physics and mechanical perspectives is lacking. To address these gaps, we conducted experiments using photoelastic disks, simultaneously tracking particles and measuring forces. Our findings reveal that the yielding transition demonstrates critical behavior from a statistical physics standpoint and marginal stability from a mechanical perspective, akin to the isotropic jamming transition. This criticality differs significantly from spinodal criticality in frictionless amorphous solids, highlighting unique characteristics of granular yielding. Furthermore, our analysis confirms the marginal stability of granular yielding by assessing the contact number and evaluating the balance between weak forces and small gaps. These factors serve as structural indicators for configurations before and after yielding. Our results not only contribute to advancing our understanding of the fundamental physics of granular materials but also bear significant implications for practical applications in various fields. Under the influence of shear forces, amorphous solids may undergo a yielding transition, transitioning from a state resembling a solid to one resembling a liquid ( 1– 7). This phenomenon is ubiquitous and finds applications in various fields such as civil engineering, material sciences, geosciences, the food industry, and biophysics. Conversely, amorphous materials can experience jamming transitions, shifting from a liquid-like to a solid-like state through processes like rapid cooling to zero temperature, densification, or shear ( 8– 12). An intriguing question emerges: do these two remarkable transitions exhibit shared, yet scarcely explored, universal characteristics that could enhance our understanding of phenomena within a single experiment?