In the design and construction of the coastal/offshore structures, it is very important to evaluate the geotechnical characteristics of marine soils, which support the structures. Although the offshore site investigation is much more difficult than onshore, safe and precise jobs have not been accomplished in Korea because of the insufficiency of the test equipments especially for the site with deep water depth. The main objective of this study is to develop a new type of marine cone penetration testing(CPT) system, which can be utilized to even deep sea and high depth of soil layer. The system is one of seabed types and employs the conventional cone, which shows more reliable results than miniature cone. The most important parts of the marine CPT including continuous rod system, cone penetration system with wheel drive, automatic cone rod assembly/dissembly system etc., were designed and manufactured. Some tests to verify the developed marine CPT system were performed at both onshore and offshore sites as well as mechanical test in laboratory. The test results show the consistent and promising performance of the new equipment, and thereafter the system would be applicable to various sites with practical/economical advantages.