The use of the segmental pipe section immersed tunnel suffers from several problems, such as complex construction, weak foundation, great water depth, great thickness of siltation back on the top of the tube, and difficult settlement control. Based on Winkel’s elastic foundation beam theory, a mechanical calculation model is established according to the case of an inhomogeneous soil layer, and the force and deformation of the structural system of the immersed tube tunnel are calculated based on a bridge in Zhuhai as an example of an immersed tube tunnel. The results show that the derived formula for calculating the allowable differential settlement per unit length of the longitudinally immersed tube is applicable to the sudden change type foundation stiffness deformation model of the natural foundation section of the tube tunnel of the aforementioned bridge in Zhuhai. The relationship between the settlement control index and related influencing factors is analyzed. Hence, a formula for calculating the stratified ground foundation’s integrated bed coefficient is derived, and the equations for tunnel deflection curves and shear forces are solved. A set of calculation methods that are applicable to the foundation settlement control criteria of the segmental immersed tunnel is provided, and the results provide a significant reference for the optimization of the foundation scheme and improvement of the construction process for similar projects.