A three-dimensional non-linear FEA model of radial tire was established. The rebar model was employed to simulate complex multilayer cord-rubber composites and directly define the cord directions varying with their positions. Meanwhile, the geometric non-linearity due to large deformation, material non-linearity, and the non-linear boundary conditions from tire—pavement static camber contact were considered. The static camber performance of the radial tire was studied. Relationships among load and the tire deflection, the tire deformation, contact stress distribution, contact friction force distribution, side force, and deflection were discussed. A set of special testing equipment was designed to realize quasi-static loading with continuous loading and unloading. Then the static camber performance of the radial tire was tested. The contact pressure distribution and the shape of contact area in different camber states of the tire were measured by pre-scale films. The simulation result was in good agreement with the test result.