The penetration force and depth of the slip teeth are important factors influencing the hanging capacity of liner hanger, which can lead to failure of well cementation. In this study, a method to calculate the penetration force of dual-wedge slip teeth was presented by considering the surface configuration and the force transfer mechanism of dual-wedge slip in three dimensions. The interaction between dual-wedge slips and casing was simulated using ABAQUS 6.14 software, and the contact force (penetration force) was obtained. Experimental research was carried out to verify the correction of calculation and simulation. The strain of casing was obtained after the dual-wedge slips set under axial loads. The experimental results, theoretical prediction, and the numerical simulation are in good agreement. The effects of geometrical parameters on force transfer characteristics were discussed, which shows that the penetration force of dual-wedge slips increases with increase in the liner weight and Eulerian angle γ, and it decreases with the increase in Eulerian angle α and friction coefficient. The geometric parameters of the dual-wedge slip can be designed to obtain an optimal penetration force, and ensure that the slip teeth penetrate into the inner wall of casing without damage to the casing. The penetration force can be obtained by optimizing the parameters related to geometry of dual-wedge slips.