This paper proposes a regularized smoothed particle hydrodynamics (SPH) scheme to solve the problems of tensile instability and stress noise in largedeformation soil-structure interaction. Particle shifting and stress regularization are combined to maintain uniform stresses and particle distributions. A generalized frictional boundary condition is presented to model soil-structure interfaces with abitrary friction coefficients. A modified particle shifting technique is developed to regularize particles near the frictional boundaries. Furthermore, GPU acceleration algorithm is adopted to improve the efficiency. The proposed scheme is compared with the conventional SPH methods using numerical examples, including the collapse of three-dimensional granular column, the collapse of the cohesive soil, and pipe penetrates into soft clay. The comparison indicates that the proposed regularized SPH model can give highly accurate results for large-deformation soil-structure interaction problems with arbitrary friction coefficient.