Sliding friction is an important excitation for the vibration and noise of a transmission system. However, in cases where the helix angle of the helical gear is large, the dynamic characteristics of the transmission system in an electric vehicle caused by friction excitation have not been explored explicitly. In this study, the helix angle of helical gears is 30.5 degrees. A mesh stiffness calculation algorithm is derived. A dynamic model of a Motor Two-Stage helical gear transmission system in an electric vehicle at a constant speed is established. A bench test is carried out to verify the model. A friction model is employed. The dynamic characteristics are analysed after considering the friction and the axial stiffness component. The friction makes the vibration in the x direction increase. The vibration in the y direction is suppressed by friction. The vibration in the z direction has a small change. The components in the frequency domain also change. The axial stiffness components only make the vibration and the meshing force increase in the time domain. This indicates that friction needs to be considered when dynamic characteristics are analysed. The study is good for the reduction of vibration and noise. This may provide a theoretical base for the condition monitoring of the gear system in electric vehicles.