The influence of different appendage shape on the characteristics of hydrodynamic forces on Manta-type Unmanned Undersea Test Vehicle(MUUTV) was discussed experimentally. Fuselage only MUUTV model and two types of MUUTV model with different appendage geometries were considered as the subject of discussion Oblique tow experiment was carried out in circulating water channel with three MUUTV models. A point of difference in hydrodynamic force characteristics among three models was indicated. Furthermore, the linear hydrodynamic derivatives obtained from model experiment were compared with theoretical calculation results from slender body theory, added mass theory and etc. Based on the hydrodynamic force characteristics, motion stability of two types of MUUTV model with different appendage geometries was compared each other. Through the above analysis, the more suitable shape of appendage geometry was made clear.