Abstract Although pre-chamber (PC) is regarded as a promising solution to enhance ignition in lean-burn gas engines, a lack of comprehensive understanding of PC jet penetration dynamics remains. This study proposed a zero-dimensional (0-D) model for PC jet penetration, considering the mixing of combustion products and unburned gases and floating ejection pressure. A combustion completion degree was defined employing fuel property and heat release to estimate varying jet density. Pressure differences between PC and the main chamber (MC) were referred to as the ejection pressure. Then, this model was validated against experiments from a constant volume chamber and a rapid compression and expansion machine with CH4-H2 blends at different equivalent ratios. Results showed that the proposed model can provide a good prediction in stationary and turbulent fields with the calibrated model coefficient. The overall jet penetration exhibits a t0.5 dependence due to its single-phase characteristic and the relative lower density compared to ambient gas in MC. The flame propagation speed and heat release in PC influence the combustion completion degree at the start of jet ejection, the mass fraction of burned gas in jet increases with the equivalent ratio. Jet penetration is primarily driven by ejection pressure, with tip dynamics barely affected by the pressure difference after the peak. Tip penetration intensity increases with increased fuel equivalent ratio and H2 addition, owing to the faster flame propagation. These findings can offer useful suggestions for model-based design and combustion model development for gas engines.