In order to accurately obtain the dynamic characteristics of double involute gears, according to the characteristics of its tooth profile, the idea of "subsection method" is proposed to establish a novel tribo-dynamic model by the coupling relationship between thermal effect, lubrication characteristics and dynamic characteristics. In the process of iterative solution of the model, an analytical model of lubricant film deformation is established and a time-varying meshing stiffness calculation model considering the coupling effects of multiple factors is established. The influence of different factors on its dynamic behaviors and the difference of dynamic characteristics between double involute gears (DIGs) and common involute gears (CIGs) are comparative analyzed. The results show that the thermal effect and tooth friction can intensify the dynamic response of the gear transmission. The change of rotational velocity and torque have significant impact on the dynamic behaviors of DIGs, the variation of tooth waist order parameters have little effect on its dynamic characteristics, and the dynamic characteristics between DIGs and CIGs exist difference, but the difference is not obvious. Additionally, the theoretical model is verified through experiments.