In order to study the penetration speed of large-diameter steel pipe pile driven by vibratory hammers, finite element model was established by using the commercial code ABAQUS and the penetration speed, penetration resistance and the ratio of static load force to dynamic load force were analyzed. The results indicated that the hysteresis loops of the pipe pile shaft soil are presented as the banana-shaped curve, which shows the soil experiences two phases of dilation and two phases of contraction during each cycle. The hysteresis loops of the pipe pile end soil are presented as the butterfly-shaped curve, which shows the soil experiences compression phase and stretch phase. The process of pipe pile penetrating by high-frequency vibration can be divided into two stages:slow and fast penetration. Consideration should be given to the static load and dynamic load amplitude coupling relationship.