This paper presents a study on the idle vibration reduction of a diesel sport utility vehicle (SUV). To reduce idle vibration, the transmission paths of vibration from the engine to the driver seat floor were investigated with the vehicle components related to idle vibration. Furthermore, operational deflection shape (ODS) tests were conducted to visualize the vibration shapes during engine idling. Experimental modal analyses were performed to obtain the natural frequencies and mode shapes. Through the ODS and modal tests, the vibration characteristics of the diesel SUV during idling were identified. Considering these vibration characteristics, a multi-body dynamic model for the diesel SUV described by differential equations of motion was established to evaluate the idle vibration. To implement the dynamic model effectively, the equivalent stiffnesses and damping coefficients included in the model were determined experimentally or analytically. The established dynamic model was verified by comparing the natural frequencies and idle vibration levels between simulations. Using this dynamic model, we analyzed the effects of various design variables on idle vibration and obtained an optimal design for reducing the idle vibration level. Finally, we present a design guide to reduce the idle vibration for diesel SUVs.