Seed size and shape are important characteristics in soybean breeding, whereas the genetic basis are still unknown, which constrains the improvement of related traits. In view of this, one recombinant inbred line population was assessed for six related traits under four environments. In total, 10 QTLs controlling the related traits were identified, and five were detected across at least two environments, which located on chromosomes 2, 4, 6, 13, and 16 with phenotypic variation explained (PVE) 3.6% to 9.4%. Among them, qSS-02 and qSS-16 were identified to control four and five related traits with pleiotropic effects on chromosomes 2 and 16 across three and two environments, respectively. Meanwhile, qSS-04 was detected to control all of the six related traits on chromosome 4 under four environments with PVEs 4.5% to 9.4%. Furthermore, the candidate genes, that is, Glyma.04G055100 (big grain protein) and Glyma.13G068500 (cytochrome P450), were screened out for their different expressions between population parents at different seed growth and developmental stages. Thus, these results could provide novel insights for the genetic basis of seed size and shape in soybean.