The pipe-roof method is an increasingly popular pre-construction soil support system for underground space development for its superior safety. Whilst the load-bearing and deformation characteristics of pipe-roof structures has been the subject of much research, uncertainties surrounding the interactions between the pipe-roof and the surrounding soil remain. This paper fills this gap by describing small-scale laboratory testing and complementary theoretical analysis exploring the development of pipe-roof deformation, soil deformation mechanism and displacement field, and soil pressures acting on the pipe-roof. The results show that deformation of the pipe-roof itself leads to a partially mobilized soil arching effect, resulting in a 'tower-shaped' soil displacement mechanism. In addition, the earth pressure distribution above the pipe-roof is arch-shaped, forming a minor principal stress arch. The experimental results inform a theoretical model for the calculation of the soil earth pressure acting on the pipe-roof, considering the interaction between the pipe-roof deformation and the principal stress rotation. Theoretical predictions are shown to be in good agreement with the experimental measurements, with a maximum error of less than 5%. The proposed model is closed-form and suitable for routine use in design.