Sediments in the seabed hold vital clues to the study of marine geology, microbial communities and history of ocean life, and the remote operated vehicle (ROV) mounted tubular sampling is an important way to obtain sediments. However, sampling in the seabed is a particularly difficult and complicated task due to the difficulty accessing deep water layers. The sampling is affected by the sampler’s structural parameters, operation parameters and the interaction between the sampling tube and sediments, which usually results in low volume and coring rate of sediments obtained. This paper simulated the soft viscous seabed sediments as non-Newtonian Herschel-Bulkley viscoplastic fluids and established a numerical model for the tubular sampling based on the volume of fluid (VOF) method. The influence rules of the sampling tube diameter, drainage area rate, penetration velocity, and sediments dynamic viscosity on coring rate and volume were studied. The results showed that coring volume was negatively correlated with all the parameters except the sampling tube diameter. Furthermore, coring rate decreased with increases in penetration velocity, drainage area rate, and sediments dynamic viscosity. The coring rate first increased and then decreased with increasing of the sampling tube diameter, and the peak value was also influenced by penetration velocity. Then, based on the numerical simulation results, an experimental sampling platform was set up and real-world sampling experiments were conducted. The simulation results tallied with the experimental results, with a maximum absolute error of only 4.6%, which verified that the numerical simulation model accurately reflected real-world sampling. The findings in this paper can provide a theoretical basis for facilitating the optimal design of the geometric structure of the seabed sediments samplers and the parameters in the sampling process.