The experimental study on tribological properties of the pantograph-catenary (PAC) system primarily involves the application of static contact force, while the dynamic contact force is rarely considered. To address this gap, a dynamic model of friction coupling was established to obtain the PAC dynamic contact force under various operating conditions. The catenary suspension mechanism was modeled as a spring with a concentrated mass at one end, while the pantograph was represented by a simplified lumped-mass model. The rigid catenary and pantograph systems were coupled using the penalty function method. The contact force evaluation indexes include maximum, minimum, mean, and standard deviation. The results show that the increase in train speed intensifies the fluctuation of PAC dynamic contact force. Speed has a significant effect on the frequency component of PAC dynamic contact force. The number of frequency components of the dynamic contact force increases with the speed in the range of 0–20 Hz, and the dominant frequency also rises with speed. The dynamic indexes of the DSA380 pantograph meet the specification requirements when applied to the subway system at speeds below 120 km/h.