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Triangular crawler chassis has the advantages of high ground clearance, low grounding pressure, good maneuverability, etc. Multi-body dynamics analysis is an important method to study the dynamic characteristics of crawler chassis. The triangular crawler chassis with high ground clearance was studied and its topological structure model and car body assembly were constructed. The constraints and motion relationship between the various parts were analyzed. The motion state of the tracked chassis in the driving and climbing process was studied. The contact model between loadbearing wheel and crawler, the crawler tension model and the contact model between crawler and soft ground were deduced and analyzed. The road spectra of class B-level road (cement hard ground pavement) and class E-level road (farmland soft soil surface) were established by harmonic superposition method. Then multi-body dynamics simulation and experiment verification were conducted. The results showed that the average speed error rate of the established model was less than 1.50%. The distance offset error of hard road was 5.68%, and that of soft soil road was 4.89%. The average pitch angle error was no more than 3%. The data indicated that the established multi-body dynamics model of triangular crawler chassis had high accuracy. The research conclusions and methods can be extended to the dynamic investigation of other tracked chassis.