For studying dynamic characteristics of fluid filled pipe under hydraulic excitation force generated actively by a new developed vibration exciter, at first a computer code based on the method of characteristics (MOC) was developed. Then the excitation force calculated by MOC was applied to the corresponding nodes of finite element of pipe, by using Newmark’s method, the dynamic response at every cross section of pipe was obtained. The numerical simulations show that a simple harmonic motion arises at every cross section of the pipe, and the lateral vibration amplitude of every node along the pipe increases as the rising excitation force. In addition, measured data were compared with numerical simulation, which were basically consistent with each other.