On the basis of classical plane strain case, the analytical solution on dynamic response of pipe pile in frequency domain was derived. The influences of soil shear modulus, damping coefficient, inner soil and diameter on vibration characteristics were studied. Numerical results indicated as follows: The oscillating amplitude of velocity admittance curve and dynamic complex stiffness curve is reduced with the increase of soil shear modulus and damping coefficient. The frictional resistance of outer soil is larger than that of the inner soil. The resistance of inner soil is reduced with the decrease of pile diameter.