The interaction between pipe and soil under static conditions with constant internal fluid pressure is studied by linearly elastic and non-linear elastic models with the finite element method. This paper presents the results from a numerical study on the subsea pipeline resting on dense sand. The pipe-soil interaction events include axial-lateral interactions. A three-dimensional continuum finite element model has been developed using Abaqus/Standard. The constitutive behaviour of the dense sand has been modelled by considering different soil models. Three soil models namely linearly elastic, Drucker-Prager and Mohr–Coulomb are considered to model dense sand behaviour. The observed results have been checked for a 0.4 m diameter pipeline in terms of vertical displacement, lateral displacement, principal stress and strain variations. The influence of temperature and internal fluid pressure have been considered for the analysis. For static conditions, MC and DP models show similar behaviour in representation but show the variation in magnitude due to their similarities in p−q stress space.