Abstract: Soil-track shoe thrust was derived based on the new soil shear formula considering soil water content and shear rate of soil-track shoe. Soil-track shoe thrust was divided into force of the bottom of track shoe, force of the bottom of grouser, force perpendicular to shear plane of grouser and forces acting on the sides of the track plates, which were deduced respectively. Finally a new soil-track shoe thrust model was constructed taking into account the impact of grouser draft angle and splay angle on soil thrust. Track shoe traction test was conducted to verify the effectiveness of the new thrust model.