It is necessary for the ship dynamic models to realize ship dynamics and to achieve the real-time analysis in the manoeuvring simulation. Generally, simple dynamic models, such as 1st-order differential equation models of turning angle, turning rate, and forward speed, are used in the manoeuvring simulation for multiple ships. Ship dynamic modeling and parameter estimation methods based on its turning test results are proposed in this paper. Parameter estimation methods for the constant speed model and the speed-changing model are mathematically developed and verified by comparing with turning test results of a real ship.