This paper presents the results from three-dimensional analysis of offshore driven pipe piles using FLAC3D (Fast Lagrangian Analysis of Continua in three Dimensions) program. The numerical model was developed with solid elements for both the pile and the surrounding soil. Interfaces are created both on the inside and outside surfaces of the pipe pile along the length as well as at the bottom of the annular area of the pile. The pile driving was simulated by giving hammer impact force of one blow which was measured during offshore pile installation. Parametric studies were performed with different soil properties until the signals from the numerical analyses matched with the measured force–velocity data of the pile installed in offshore South East Asia region. The results include the soil plug behaviour under continuous driving and with a delay time of 12 h. © 2020, Springer Nature Singapore Pte Ltd.