The frequency splitting phenomenon and transmission characteristics have been research hotspots in the field of magnetically coupled resonance wireless power transfer (MCR-WPT). In this paper, non-linear dynamics theory was innovatively introduced into the research, and non-linear coupled transmission dynamics modelling of the MCR-WPT system was established considering the non-linearities of the compensation capacitor. The mechanism of the frequency splitting phenomenon of the MCR-WPT system was revealed through systematic mathematical analyses based on the modelling. The analysis results showed that the system usually has dual natural frequencies which are low resonance frequency and high resonance frequency. Based on non-linear dynamics theory, the transmission characteristics of the system with different non-linear parameters were discussed comprehensively in relation to the modelling. The results of the numerical simulations and theoretical analyses showed that non-linear parameters can cause the jumping phenomena with the output responses, and the output responses in the vicinities of the lower resonance frequencies were extremely sensitive to changes in the coupling coefficient. According to analyses of the linear and non-linear systems, the energy transmissions performed in the vicinity of the high resonance frequency had a wider working frequency band and a better transmission stability under non-linear conditions.