Considering the geometry design parameters, a quasi-static mesh model of spiral bevel gears was established and the mesh characteristics were computed. Considering the time-varying effects of mesh points, mesh force, line-of-action vector, mesh stiffness, transmission error, friction force direction, and friction coefficient, a nonlinear lumped parameter dynamic model was developed for the spiral bevel gear pair. Based on the mesh model and the nonlinear dynamic model, the effects of main geometry parameters on the contact and bending strength were analyzed. Also, the effects on the dynamic mesh force and dynamic transmission error were investigated. Results show that higher value for the pressure angle, root fillet radius, and the ratio of tooth thickness tend to improve the contact and bending strength and to reduce the risk of tooth fracture. Improved gears have a better vibration performance in the targeted frequency range. Finally, bench tests for both types of spiral bevel gears were performed. Results show that the main failure mode is the tooth fracture and the life was increased a lot for the spiral bevel gears with improved geometry parameters compared to the original design.