Considering the stability of vehicle system, static instability and dynamic instability are two different instability problems. Because of the dynamic coupling between car and trailer, the problem of dynamic stability of car-trailer combination (CTC) is more obvious. This instability is called body sway or flutter in engineering, its boundary is often described by dynamic critical speed ( vcrit). It has been proved by experiments that the steering system characteristics have an important impact on the dynamic stability of CTC, but the specific mechanism is not clear. In this paper, the characteristic and influence of steering subsystem are studied for the first time. Firstly, a 6-DOF nonlinear dynamic model of CTC is established by Lagrange equation. The steering subsystem characteristics, incl. stiffness, damping, rotational inertia, and dry friction, are considered in theoretical modeling. On this basis, the influences of steering characteristics, especially the dry friction, on vcrit and axle cornering stiffness of CTC are analyzed. Simulation results show that the vcrit can increase by 16% and 23.2% respectively via adjusting the steering stiffness and the sliding friction factor. Therefore, a fine selection of steering subsystem characteristics can effectively improve the dynamic stability and safety of CTC. The research results of this paper can provide reference for the design of steering system considering dynamic stability.