This book offers a comprehensive exploration of the dynamics modeling and maneuvering analysis of autonomous underwater vehicles (AUVs), integrating both theoretical concepts,numerical simulations and practical applications. It covers the essential principles of underwater vehicle dynamics, including kinematics, kinetics, and the forces analysis. Detailed methodologies for deriving dynamic equations using nonlinear dynamic theory and modular design considerations, as well as estimating hydrodynamic coefficients through empirical, analytical, computational, and experimental and data driven approaches, are presented. Special attention is given to modern techniques such as Computational Fluid Dynamics (CFD) and System Identification, etc along with comparative analyses to guide engineers in choosing appropriate estimation methods. The book also explores the maneuvering performance of AUVs, outlining standard tests and analyses based on ITTC protocols and offering validation techniques for established dynamic models. Practical case studies, including the classical REMUS 100 AUV and novel flight-style AUV, illustrate the real-world applications of these theories and methods, making this work a valuable resource for researchers, engineers, and professionals involved in AUV design and development. It is particularly useful for those working on streamlined AUV designs at the early design phase, providing critical insights even before models or prototypes are available.