Hydrogen is an important component of renewable energy and is essential for sustainable development. The cryogenic energy storage system can solve the problem of hydrogen storage. A packed bed can be applied in a cryogenic energy storage system. It is crucial to understand the cryogenic energy discharging in a packed bed. In the present work, the CFD-DEM coupling method is used to investigate the pore-scale flow and heat transfer characteristics of cryogenic hydrogen flowing through the packed bed. To demonstrate the characteristics of the pore-scale heat transfer of the hydrogen flow in a packed bed, the local radial-averaged and axial-averaged temperatures and velocities are analyzed in detail, depending on the local porosity distribution. The pore-scale radial-averaged velocity distribution is proportional to the local radial porosity distribution, whereas the pore-scale radial-averaged temperature characteristics are inverse. Moreover, for the heat exchange of the cryogenic hydrogen flow in a packed bed, it can be found that the cryogenic hydrogen flow is fully heated at an axial distance of approximately 7 dp. Finally, considering that the thermo-physical properties of cryogenic hydrogen are sensitive to the temperature in a packed bed, the friction factor and Nusselt number in the packed bed are also analyzed under various operating parameters, which are in good agreement with certain classic empirical correlations.