In order to investigate the driving characteristics of multi-axis special vehicle under the limit condition of missing tires, a five-axis special vehicle dynamics simulation test model including vehicle parameters, power transmission and braking system, axle and suspension system, steering system, and tire system was established based on the vehicle dynamics software TruckSim. Focusing on the analysis of the effect of tire deficiency and based on the tire six component test, the simulation test model of tire parameter was modified and the 0—80—0 km/h linear acceleration brake comfort simulation test and double line operating stability simulation test were conducted to study the smooth features and stability characteristics under the condition of tire deficiency at different positions. Based on the deviation of the centroid of the vehicle, the maximum number of missing tires at different driving speeds was analyzed, and the tire layout methods as well as the degree of influence of each axle tire on the vehicle at different driving speeds were proposed. The results show that the multi-axle special vehicle has the limit condition of driving under the condition of tire deficiency, and the tire deficiency at different positions has little effect on the driving speed of the vehicle. The influence of each axle tire on the driving of this type of vehicle is ranked in order of importance, which are the first axle, the fifth axle, the third axle, the second axle, and the fourth axle. When the vehicle travels at 50 km/h, 30 km/h, and 20 km/h, the maximum numbers of missing tires are 1, 2, and 3, respectively. This paper can provide theoretical support for the assessment of driving safety of multi-axle special vehicles.