The plume-surface interaction that occurs as a result of a variable-thrust engine exhaust plume impinging on soil during landings is critical for future lunar mission design. Unique lunar environmental properties, such as low gravity, high vacuum, and the regolith layer, make this study complex and challenging. In this paper, we build a reliable simulation model, with constraints based on landing photos, to characterize the erosion properties induced by a low-thrust engine plume. We focus on the low-thrust plume-surface erosion process and erosion properties during the Chang’E-5 mission, aiming to determine the erosion difference between high- and low-thrust conditions; this is a major concern, as the erosion process for a low-thrust lunar mission is rarely studied. First, to identify the entire erosion process and its relative effect on the flat lunar surface, a one-to-one rocket nozzle simulation model is built; ground experimental results are utilized to verify the simulated inlet parameters of the vacuum plume flow field. Following that, plume flow is considered using the finite volume method, and the Roberts erosion model, based on excess shear stress, is adopted to describe plume-surface interaction properties. Finally, a Lagrangian framework using the discrete phase model is selected to investigate the dynamic properties of lunar dust particles. Results show that erosion depth, total ejected mass, and the maximum particle incline angle during the Chang’E-5 landing period are approximately 0.2 cm, 335.95 kg, and 4.16°, respectively. These results are not only useful for the Chang’E-5 lunar sample analysis, but also for future lunar mission design.