The soil moisture content (SMC) of moist clay directly affects the traction performance of off-road tire. This study set up a high-fidelity interaction model between off-road tire and moist clay with various moisture content, developed by coupling the finite element method (FEM) and smoothed particle hydrodynamics (SPH) algorithm. The interaction behavior between pneumatic tire and moist clay is studied. Firstly, a finite element model of tire which can characterize the complex structure and nonlinear mechanical properties is established. The Drucker-Prager (D-P) constitutive model parameters of clay with various moisture levels are calibrated by soil mechanical test. The moist clay with various moisture content is modeled through the SPH algorithm. The hybrid FEM-SPH interaction model is used to define the tire-moist clay interaction. Moreover, a traction performance test device suitable for tire-moist clay is developed to verify the accuracy of the interaction model. The influence of soil moisture content and tire operating conditions include vertical load and inflation pressure on the longitudinal traction coefficient, rolling resistance coefficient and instantaneous sinkage of tire center are quantitatively analyzed. The purpose of this study is to provide accurate tire force information under moist clay for unmanned ground vehicle (UGV), which can improve the problem of wheel instantaneous sinkage of tire center and slip under moist clay, and effectively reduce the yaw phenomenon in the path tracking process.