The combination mode of a fixed lander and a rover has poor exploratory range in the lunar exploration missions. In order to overcome the limitation, a new type of lunar-based mobile equipment called mobile lunar lander (MLL) with landing-moving integrated gear (LMIG) is proposed. This paper aims to model the kinematics and dynamics of the LMIG which can provide a basis for performance evaluation and motion control. Firstly, the inverse and forward kinematic solutions are solved by geometric method and numerical method, respectively. Secondly, the dynamic model is established and verified, and the simulation results show that the maximum error of the model is 1.91%. Finally, the driving force performance index is calculated, and the distribution law of the index in the workspace is given.