Laser keyhole welding is investigated using a three-dimensional Gaussian heat source, and the heat source parameters such as the keyhole depth, welding efficiency and power density distribution factor are determined in a systematic way. For partial penetration, the keyhole depth is same as the penetration and is predicted using the experimental data. The welding efficiency is calculated using the ray-tracing method and the power density distribution factor is determined from the bead shape. Full penetration is classified into the transition, normal and excessive modes depending on the degree of keyhole opening. Thermal analysis of the bead-on-plate welds is conducted using the Gaussian heat source, and the calculated weld geometries show reasonably good agreements with the experimental results.