The shear stiffness has become an important design parameter to understand the soil behavior. In particular, the elastic moduli and void ratio has been considered as important parameters for the design of the geotechnical structures. The objective of this paper is the development of the penetration type Field Velocity and Resistivity Probe (FVRP) which is able to assess the elastic moduli and void ratio based on the elastic wave velocities and electrical resistivity. The elastic waves including the compressional and shear wave are measured by piezo disk elements and bender elements. And the electrical resistivity is measured by the resistivity probe, which is manufactured and installed at the tip of the FVRP. The penetration tests are carried out in calibration chamber and field. In the laboratory calibration chamber test, after the sand-clay slurry mixtures are prepared and consolidated. The FVRP is progressively penetrated and the data are measured at each 1 cm. The field experiment is also carried out in the southern part of Korea Peninsular. Data gathering is performed in the depth of 6~20 m at each 10 cm. The elastic moduli and void ratio are estimated based on the analytical and empirical solutions by using the elastic wave velocities and electrical resistivity measured in the chamber and field. The void ratios based on the elastic wave velocities and the electrical resistivity are similar to the volume based void ratio. This study suggests that the FVRP, which evaluates the elastic wave velocities and the electrical resistivity, may be a useful instrument for assessing the elastic moduli and void ratio in soft soils.