In order to quantitatively evaluate the impact of grazing on the process of grassland soil infiltration, understand and prevent soil erosion by grazing and scientifically evaluate the hydrological regulation function of grassland, this study took Xilamuren grassland as the main research object and used the double-loop infiltration method to study the effects of grazing on soil infiltration performance of typical grassland and collected the environmental characteristic variables affecting soil infiltration. The results showed that:(1) The soil infiltration capacity was disturbed by grazing activities. With the increasing of grazing intensity, the initial soil infiltration rate and steady infiltration rate decreased, and the time to reach steady infiltration shortened. However, light grazing (LG) enhanced the infiltration performance of the soil. The initial infiltration rate (5.12 mm/min), steady infiltration rate (1.93 mm/min) and cumulative infiltration capacity (213.42 mm) for 2 hours were all good under the LG condition. The duration from the rapid infiltration stage to the stable infiltration stage of LG was prolonged. (2) Under different grazing intensities, there was a significant negative correlation between grazing intensity and soil initial infiltration rate, steady infiltration rate and cumulative infiltration amount, and the correlation coefficients were -0.646, -0.770 and -0.531, respectively. Vegetation coverage, sand volume percentage and porosity were all positively related to soil infiltration rate, while soil bulk density was the opposite. Soil bulk density, total porosity and capillary porosity had the most significant effect on soil infiltration rate. Appropriate grazing (LG, 1.5 sheep/(hm²·month)) improved soil characteristic parameters and vegetation growth, and increased soil infiltration performance. (3) Through the analysis of soil infiltration model, the Horton model had the best fitting effect on soil infiltration rate and soil cumulative infiltration. This study could provide a reference for the quantitative evaluation of soil infiltration and hydrological regulation function of typical grassland under grazing conditions.