For the maintenance of the pipelines which pipe oil from oil fields in the Bohai Gulf of China, an underwater vehicle for pipeline detection and maintenance (PDM-UV) is designed. In this paper, the maneuverability and motion simulation of PDM-UV are studied. A general dynamic equation to describe the hydrodynamics of PDM-UV is presented. For a deep understanding of the dynamics of PDM-UV, which is somewhat different from normal underwater vehicles in configuration, the maneuverability is discussed in terms of hydrodynamic coefficients with experimental results. Finally, the whole motion simulation system is introduced and simulation results are presented to demonstrate the feasibility and correctness of the simulation platform.