The estimation of hydraulic parameters is the basis for establishing soil erosion models. However, the underlying surfaces greatly influence the hydraulic parameters of the overland flow. Since sediment flow and slope surface resistance interact, exploring the mechanism of overland flow movement in relation to different underlying surfaces is essential. A potential relationship between hydrodynamic parameters and slope gradient and flow discharge was investigated by carrying out overland flow experiments, which used four types of non-erosion slope surfaces (stem cover, brown soil, frozen soil, and organic glass), four slope gradients (3°, 6°, 9°, and 12°), and four flow discharges (0.35, 0.45, 0.55, and 0.65 L s–1). The results showed that the hydraulic parameters (i.e., mean flow velocity, flow depth, Froude number, Reynolds number, shear stress, drag coefficient, stream power, and unit stream power) differed with the increased slope gradients and flow discharges. The mean flow velocity of the stem cover slope was lower than that of the frozen soil slope, brown soil slope, and organic glass slope by 33%, 40%, and 50%, respectively. The stem cover slope drag coefficient was higher than the frozen soil slope, brown soil slope, and organic glass slope by 201%, 323%, and 630%, respectively. The critical flow states of the underlying surface were different under different slope gradients and flow discharge conditions. The flow on frozen soil slopes was mainly laminar and transitional, while the other three were transitional. These results help us understand the hydrodynamic mechanisms of the sediment transport process during overland flow. The results of the study provide a scientific basis for understanding the hydrodynamic mechanism of the dynamic changes of the sediment transport on the slope, deepening the understanding of the soil erosion mechanism and improving the prediction accuracy of the soil erosion process model.