In order to study the critical ricochet velocity and critical penetration velocity of tungsten alloy rod obliquely penetrating a finite-thickness metal plate, experiment and numerical calculation of tungsten alloy rod impacting on homogeneous armor steel plate with a thickness of 30mm at an angle of 60° were carried out. Compared the experimental and numerical results with the results using models, it is found that, the results of the ricochet models proposed by Tate, Rosenberg and Steven B for semi-infinite thick plate are quite different from those of experiment and numerical calculation, so they can not be applied to the ricochet situation of finite-thickness plate. The critical penetration velocity model proposed by De Marre and Zhao are in good agreement with the numerical and experimental results, which can predict critical penetration velocity of tungsten alloy rod obliquely penetrating a finite-thickness metal plate with large impact angle. The penetration depth of the projectile under the critical ricochet velocity is about 1/3 of the thickness of the target plate, and the angle between the ejection trajectory of the fragments produced by projectile and target plate and projectile penetration trajectory is exactly 90° in the first penetration stage.