The precise determination of the physical and dynamical parameters of the HIP 109951 triple star system (WDS J22161-0705AB) which is formed by the A, Ba, and Bb components are presented. The binary nature of component B was recently confirmed by studying the radial velocities. The analysis of the system follows Al-Wardat's complex method for analyzing CVBS which employs Kurucz (Atlas9) line blanketed plane-parallel atmospheres simultaneously with an analytic method for dynamical analysis (we used Docobo's method) to calculate the parameters of this triple system. The result of our study yielded the following parameters: T A eff = 5836 ± 80 K, R A = 1.090 ± 0.039R , logg A = 4.45 ± 0.06, M A = 1.05 ± 0.16M ; T Ba eff = 5115 ± 80 K, R Ba = 0.596 ± 0.05R , log g Ba = 4.60 ± 0.07, M Ba = 0.83 ± 0.16M , T Bb eff = 4500 ± 80 K, R Bb = 0.490 ± 0.06R , log g Bb = 4.65 ± 0.07, and M Bb = 0.67 ± 0.16M based on the revised Hipparcos parallax. The orbital solution gave a total mass as M = 2.59M based on Gaia parallax and M = 2.15M based on the revised Hipparcos parallax. The synthetic spectral energy distributions (SED) and synthetic stellar photometry of the entire system and individual components are given and compared with the available observational ones. Finally, the positions of the system components on the HR diagram and the evolutionary tracks are given and their formation and the evolution of the system are discussed.