The previous dynamic analyses of the concrete pump truck mainly focus on a single subsystem of concrete pump truck, ignoring the coupling effect of its subsystems. In this work, a dynamic analysis method of the whole concrete pump truck under the real load condition was developed. The finite element model of the concrete pump truck was established, and two kinds of impact loads were loaded to simulate the dynamic impact of the concrete pump truck in working condition. The concrete flow velocity model was established, and then the impact load caused by the friction of concrete flow on the pipe wall was deduced. Based on the working principle of the concrete pump hydraulic system, the pumping impact load caused by concrete pumping was calculated. HyperMesh and the MSC. Nastran solver were used to perform the pre-processing and solving of the finite element dynamic simulation of the concrete pump truck. Finally, the simulation and experimental results under three typical working conditions were compared. The results of the simulation and experiment is consistent, verifying the rationality of the impact load model and the reliability of the simulation results.