Considering the influence of dynamic contact characteristic in gear shaving is of great significance for analyzing the mechanism of concaveerrors caused by shaving. Here, a mechanical model was established by the elastoplastic theory and loaded tooth contact analysis (LTCA). The meshing contact characteristic under different loading conditions was obtained by corresponding calculation methods with the model. The formation mechanism of the concave error was described. In order to verify the correctness of the calculation, the data of contact stressstrain and the partition of elastoplastic deformation were identified by the finite element method (FEM). The shaving experiment was performed to verify the theoretical analysis. The result shows that the area of plastic deformation increases nonlinearly with the load. The stress of the dedendum area is larger than the addendum’s and the maximum of stressstrain appears in areas near the pitchcircle (PC). The accumulation of plastic deformation and mapping of the errors in the periodic shaving make obvious concave errors. Compared with simulated results of FEM and shaving test, the values of stress and the partition of plastic deformation are reliable, and the conclusion about transmission performance of gear shaving are correct.