A novel single-mode compound split hybrid transmission with a compound planetary gear set and two brakes has been studied, which has more freedom of control to increase the system efficiency. System dynamics and matching performance of the driveline including a compound planetary gear set for a single-mode hybrid electric vehicle are numerically investigated. The multi-degrees of freedom torsional vibration model for the full-hybrid vehicle driveline with the power split device is established by MATLAB/Simulink. For comparison of the natural characteristic, eigenfrequencies and mode shapes are determined with the aid of a further simplified single-track mechanical model under different operation modes. Then, numerical simulations of dynamics and kinematics of the driveline and the compound planetary gear set are carried out. In the end, for alleviation of the severe vibrations of the driveline, effects of the torsional damper and the flywheel on the whole system vibrations are examined.