Space electroosmotic thrusters (EOTs) are theoretically investigated in a soft charged nanochannel with a dense polyelectrolyte layer (PEL), which is considered to be more realistic than a low-density PEL. When the PEL is dense, its permittivity is smaller than the one of the electrolyte solution layer, leading to rearrangement of ions in the channel, which is denoted as the ion partitioning effect. It is noted that fluid viscosity becomes high within the PEL owing to the hydration effect. An analytical solution for electroosmotic velocity through the channel is obtained by utilizing the Debye–Hückel linearization assumption. Based on the fluid motion, thruster performances, including thrust, specific impulse, thrust-to-power ratio, and efficiency, are calculated. The ion partitioning effect leads to enhancement of the thruster velocity, while increase of the dynamic viscosity inside the PEL reduces the flow rate of the fluid. Therefore, these performances are further impacted by the dense soft material, which are discussed in detail. Moreover, changes or improvements of the thruster performances from the dense PEL to the weak PEL are presented and compared, and distributions of various energy items are also provided in this study. There is a good result whereby the increase in electric double layer thickness promotes the development of thruster performances. Ultimately, the simulated EOTs produce thrust of about 0 to 20 μN and achieve thruster efficiency of 90.40%, while maintaining an appropriate thrust–power ratio of about 1.53 mN/W by optimizing all design parameters.