Consensus protocols are widely used in building reliable distributed software systems and their correctness is of vital importance. TLA+ is a lightweight formal specification language which enables precise specification of system design and exhaustive checking of the design without any human effort. The features of TLA+ make it widely used in the specification and model checking of consensus protocols, both in academia and in industry. However, the application of TLA+ is limited by the state explosion problem in model checking. Though compositional model checking is essential to tame the state explosion problem, existing compositional checking techniques do not sufficiently consider the characteristics of TLA+. In this work, we propose the Interaction-Preserving Abstraction (IPA) framework, which leverages the features of TLA+ and enables practical and efficient compositional model checking of consensus protocols specified in TLA+. In the IPA framework, system specification is partitioned into multiple modules, and each module is divided into the internal part and the interaction part. The basic idea of the interaction-preserving abstraction is to omit the internal part of each module, such that another module cannot distinguish whether it is interacting with the original module or the coarsened abstract one. We apply the IPA framework to the compositional checking of the TLA+ specifications of two consensus protocols Raft and ParallelRaft. Raft is a consensus protocol which was originally developed in academia and then widely used in industry. ParallelRaft is the replication protocol in PolarFS, the distributed file system for the commercial database Alibaba PolarDB. We demonstrate that the IPA framework is easy to use in realistic scenarios and at the same time significantly reduces the model checking cost.