Model tests are carried out on the jacked single piles of different diameters and pile lengths under the model pile of different diameters and pile lengths in clayey soil, which aims to investigate the penetration mechanical mechanism. How to accurately test the pile end resistance and pile side resistance during jacked pile sinking is particularly important. In this paper, a full-section spoke-type pressure sensor, a double diaphragm temperature self-compensating fiber Bragg grating (FBG) earth pressure sensor and a sensitized miniature FBG strain sensor are jointly applied to a single pile penetration model test to test a single pile driving force, pile end resistance and pile body stress during penetration. The test results show that the load transfer performance of test piles will be affected by different diameters, and the axial force transfer capability of a large diameter in the depth direction is better than that of a small diameter since the compacting effect is more obvious. The unit skin friction of the pile increases gradually as the depth increases, which is larger due to the lateral extrusion force increasing as the diameter increases. At the same depth, the unit skin friction of two different diameter piles demonstrates “friction fatigue”, which also decreases obviously as the depth increases. Under the conditions of this test, the maximum frictional resistance of the pile TP1 pile side is about 27.7% higher than that of the test pile TP2. In the static pile sinking process of three test piles in cohesive soil, 50% is end bearing; therefore, there is 50% friction, and the diameter influences the end bearing and the length influences the friction.