Steering control was the principal problem and technological challenge for hydrostatic drive tracked vehicle. Considering steering safety and maximum system pressure limitation, the relative steering ratio dependence of the speed was discussed based on the analysis of steering kinematics and dynamics. A steering dynamic system model was developed by Simulink of Matlab, and steering control strategy for tracked vehicle with hydrostatic drive was also designed. This steering control strategy can preferentially achieve the driver’s expected steering radius exactly by reducing average vehicle speed in the case of not exceeding the system pressure threshold and no sideslip.