The nature of the motion of a submerged body at a shallow depth was studied using model experiments performed in an ice tank. The motion was modeled in ice conditions and in the absence of ice cover on the water surface. The influence of the body hull shape on the motion parameters and the nature of wave formation was assessed. The efficiency of ice destruction by flexural-gravity waves (FGW) was assessed using the proposed geometric criterion of ice destruction. It was found that the ice cover significantly affects the nature of the motion of the body model at a shallow depth. Dependences of the vertical displacement of models with different cross-section shapes along the midship frame were obtained. It is concluded that there are ranges of relative motion velocities at which contact of the stern end of the model with the lower surface of the ice is possible. It has been established that the movements of poorly streamlined bodies have a complex character and large relative displacement values. Because of this, it might not be safe to maneuver autonomous underwater vehicles (AUVs) with a similar hull shape in an ice-covered near-surface aquatic environment at \(0.3\)  <  \({\text{Fr}}\)  <  \(0.39\) . As a result of the influence of lift force and trimming moment, contact of the aft tip of the AUV with the lower surface of the ice may occur.