A novel gear transmission with double circular arc-involute tooth profile is studied in this paper. The generation principle and mathematical models of this proposed gear drive are provided based on gear geometry. The meshing characteristics of tooth surfaces are evaluated according to the analyses of motion simulation, mechanics property and sliding coefficient. The transmission efficiency experiment is based on the developed gear prototype, and a comparison with an involute gear drive is presented. The further study on dynamics analysis and key manufacturing technology will be conducted, and this new type of gear drive is expected to have excellent transmission performance.