Three-dimensional （3-D） solid models of involute splines for servo motor-driven hydraulic pump was built by using software Pro/E, and imported into software ADAMS to establish corresponding virtual prototype. Based on the dynamic impact force model of ADAMS, the contact forces between the internal spline and the external spline were built. According to the drive characteristic of servo motor, a variable speed drive was imposed on the internal spline. According to the load characteristic of vane pump, a peak drag torque was imposed on the external spline. The dynamic simulation of involute spline meshing transmission for servo-driven pump was realized. The rotation degrees, angular speed and the drive torque curves of the internal spline and external spline are obtained, which provides references to further research on dynamic characteristics of involute splines transmission system of servo-driven pump.