The supersonic ion jet produced in vacuum arc discharge has a wide range of applications, where precise control of ion kinetic energy is crucial. However, a comprehensive understanding of the ion acceleration mechanism remains elusive, particularly regarding whether ion velocity separation in vacuum spark stage. In this paper, a 1D spherical implicit Particle-in-cell (PIC) with Monte Carlo Collision (MCC) model is employed to investigate the ion velocity separation in multi-charged vacuum arc plasmas with varying electrode bias voltages and plasma densities. The results show that ion kinetic energy can reach hundreds of electron volts due to continuous acceleration by the formed potential valley, which leads to ion velocity separation at low electrode bias voltage or low plasma density. An increasing electrode bias flattens the potential valley, reducing the electric field acceleration, while increasing plasma density deepens the valley and intensifies Coulomb collisions, resulting in near-uniform velocities across ions of different charge states. These findings can theoretically explain the discrepancies observed in previous experiments regarding the dependence of ion velocity on charged state during the vacuum spark stage.