The purpose of this paper and its sequel, is to introduce a new class of modules over a commutative ring R, called P-radical modules (modules M satisfying the prime radical condition "( p √ PM : M ) = P" for every prime ideal P ⊇ Ann(M ), where p √ PM is the intersection of all prime submodules of M containing PM ). This class contains the family of primeful modules properly. This yields that over any ring all free modules and all finitely generated modules lie in the class of P-radical modules. Also, we show that if R is a domain (or a Noetherian ring), then all projective modules are P-radical. In particular, if R is an Artinian ring, then all R-modules are P-radical and the converse is also true when R is a Noetherian ring. Also an R-module M is called M-radical if ( p √ MM : M ) = M; for every maximal ideal M ⊇ Ann(M ). We show that the two concepts P-radical and M-radical are equivalent for all R-modules if and only if R is a Hilbert ring. Semisimple P-radical (M-radical) modules are also characterized. In Part II we shall continue the study of this construction, and as an application, we show that the sheaf theory of spectrum of P-radical modules (with the Zariski topology) resembles to that of rings.