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This paper focuses on developing an advanced analytical tire-terrain interaction model for full vehicle performance prediction purposes. The truck tire size 315/80R22.5 is modeled using the Finite Element Analysis (FEA) technique and validated against manufacturer experimental data in static and dynamic domains. While the terrain is modeled using Smoothed-Particle Hydrodynamics (SPH) technique and calibrated using experimental results of pressure-sinkage and direct shear tests. The contact between the FEA tire model and the SPH soil model is defined using the node symmetric node to segment with the edge treatment algorithm. The model setup consists of four tires appended back to back over a box filled with soil particles to represent a multi-axle off-road truck. The distances between the four tires are similar to the distances between the four axles of an off-road truck.