The rolling difficulty and surface quality of TC4 alloy seamless pipe is related to the rapid decrease of temperature, high deformation resistance in low temperature and the rapid change of friction coefficient with temperature in the hot rolling process. In the present paper the rolling process φ204 mm × 16 mm tubular billet to φ185 mm × 7 mm semi-finished pipe of TC4 alloy by MPM were investigated by thermal-mechanical coupling of finite element method with software ABAQUS. The effect of start rolling temperature and velocity on temperature and the rolling force and power of continuous rolled TC4 pipe were calculated and analyzed, and also the temperature fields, stress fields, strain fields of 900 °C and 2.93 m/s delivered velocity analyzed. The results indicated that rolling groove of steel pipe was suitable for the rolling of TC4 seamless pipe. Under the condition that the initial thickness and the temperature were uniform, the thickness of semi-finished pipe was 7 ± 0.41 mm, the deviation of circular degree was 1.5 mm. The simulation results of TC4 seamless pipe rolling process is verified by practical hot rolling parameters. And the shape of pipe coincides well with the result of simulation.