This paper presents the dynamic model design method of electric surface vessel. The dynamic model consists of a hull, electric motor and rudder, and the system model is designed based on its physical properties. The hull model is represented in 6 DOF, motor in physical domain and rudder in 4 DOF model. The complete model of electric surface vessel will be verified by a simple navigation simulation. The path for the navigation is generated by cubic spline curve fitting method, and the simulation result verifies the relationship of dynamic responses of each model.