Recent developments in micro- and nano-satellites have attracted the interest of the research community worldwide. Many colleges and corporations have launched their satellites in space. Meanwhile, the space flexible probe–cone docking system for micro- and nano-satellites has become an attractive topic. In this paper, a dynamic model of a space flexible probe–cone docking system, in which the flexible beam technology is applied, is built based on the Kane method. The curves of impact force versus time are obtained by the Lagrange model, the Kane model, and the experimental method. The Lagrange model was presented in the reference and verified by both finite element simulation and experiment. The results of the three methods show good agreements on the condition that the beam flexibility and the initial relative velocity change. It is worth mentioning that the introduction of vectorial mechanics and analytical mechanics in the Kane method leads to a large reduction of differential operations and makes the modeling process much easier than that of the Lagrange method. Moreover, the influences of the beam flexibility and the initial relative velocity are discussed. It is concluded that the initial relative velocity of space docking operation should be controlled to a certain value in order to protect the docking system. a 2014 Production and hosting by Elsevier Ltd. on behalf of CSAA & BUAA. Recent developments in micro- and nano-satellites have attracted the interest of the research community worldwide. Many colleges and corporations have launched their satellites in space. Meanwhile, the space flexible probe-cone docking system for micro- and nano- satellites has become an attractive topic. In this paper, a dynamic model of a space flexible probe-cone docking system, in which the flexible beam technology is applied, is built on the Kane method. The curves of impact force versus time are obtained by the Lagrange model The Kane model, and the experimental method. The Lagrange model was presented in the reference and verified by both finite element simulation and experiment. The results of the three methods show good agreements on the condition that the beam flexibility and the initial relative velocity change . It is worth mentioning that the introduction of vectorial mechanics and analytical mechanics in the Kane method leads to a large reduction of differential Operations and makes the modeling process much easier than that of the Lagrange method. Moreover, the influences of the beam flexibility and the initial relative velocity are discussed. It is concluded that the initial relative velocity of space docking operation should be controlled to a certain value in order to protect the docking system. a 2014 Production and hosting by Elsevier Ltd. on behalf of CSAA & BUAA.