The driving performance of off-road vehicles is determined by the interaction between the terrain and the driving device. This study measured the mechanical properties of coastal terrain using a bevameter to predict the driving performance of vehicles driving along the coast. The results of the pressure-sinkage test on the dry terrain confirmed that there could be a relative error of approximately 10% between the test value and the predicted value of the pressure-sinkage characteristic equation. Thus, it was confirmed that an error of approximately 10% should be taken into account when predicting the driving performance of the vehicle. Shear tests on the dry terrain and saturated terrain confirmed that even the same soil texture had different shear behaviors depending on saturation. In addition, the maximum shear stress showed a significant difference, but the shear stress after the critical state showed no significant difference. Finally, the shear test was carried out by varying the number and height of the grouser to confirm the grouser effect. The grouser effect test results confirmed that the number of grousers does not have a significant effect on the shear stress, but the height of the grouser does have an effect on the shear stress.