Upon the need of a highly efficient transmission system for conventional cars and the hybrid electric vehicle (HEV) purposes, in the paper, clutchless geared transmission system (CGST) by removing the clutch and incorporating a planetary gear system connected to a motor is newly proposed. The dynamic analysis of CGST operations is carried out, using the lever analogy of planetary gear. The state space model and the mathematical model of CGST structure are derived. Through the simulations of CGST operations, input-output tests and gear shifts are performed. To verify the simulation result, reduced size of CGST testbench is developed and experimented.