The clearances appear in chain link hinges induced by manufacturing tolerance or wear of components are the most important factor that influences the dynamic performance of the intermittent roller chain drives. Due to the existence of the clearances in chain link hinges, the serious impact vibration phenomenon which influences the stability and the position accuracy of the chain drive system would be caused in the intermittent motion. But, the problem may be that a reasonable modeling on the chain with clearances is difficult due to the large clearance’s number in chain system and the fact that the clearance’ size are different. Currently, the studies on the dynamics of the intermittent roller chain considering the multi-clearance’ joints are rare. Most research works have only focused on the constant moving chains. Taking the intermittent roller chain system as an object, this paper designs and builds the experimental device of this kind of mechanical system. The Longitudinal vibration response of the intermittent chain under the different motion laws was tested. The experimental study shows that the clearances presented in chain link hinges can cause severe impact vibration in the intermittent motion of chain. In subsequent work, the dynamic model of the intermittent roller chain system with the multi-clearance’ joints was established. By calculating the dynamic response of this kind of mechanical system under the different motion laws, the effect of the clearances on the dynamic response of the intermittent chain drive system was analyzed. The theoretical simulation shows that the serious impact vibration phenomenon of the chain system can be caused by the clearances at the start accelerating period, and the chain drive system is often accompanied by the severe shock and vibration at the moment that the chain moves from the acceleration period to deceleration period. The research conclusions made by the experimental and theoretical studies indicate that the use of motion laws with small and continuous jerk at conversion point can effectively suppress the impact vibration at this point caused by clearances’ effect. Additionally, the use of nonsymmetrical motion laws with small jerk approaching the end of the indexing period can obtain a smaller residual vibration. The presented motion law can provide an important reference for the improvement of the dynamic performance of the intermittent chain drive systems.