More and more huge embedded foundations are used in large-span bridges, such as caisson foundations and anchorage open caisson foundations. Most of the embedded foundations are undergoing horizontal vibration forces, that is, wind and wave forces or other types of dynamic forces. The embedded foundations are regarded as rigid due to its high stiffness and small deformation during the forcing process. The performance of a rigid, massive, cylindrical foundation embedded in a poroelastic half-space is investigated by an analytical method developed in this paper. The mixed boundary problem is solved by reducing the dual integral equations to a pair of Fredholm integral equations of the second kind. The numerical results are compared with existing solutions in order to assess the accuracy of the presented method. To further demonstrate the applicability of this method, parametric studies are performed to evaluate the dynamic response of the embedded foundation under horizontal vibration. The horizontal dynamic impedance and response factor of the embedded foundation are examined based on different embedment ratio, foundation mass ratio, relative stiffness, and poroelastic material properties versus nondimensional frequency. The results of this study can be adapted to investigate the horizontal vibration responses of a foundation embedded in poroelastic half-space.