The lack of sidewall fusion is one of the process challenges in narrow gap laser welding. To solve this problem, beam oscillation has been applied to narrow gap laser welding. Because the laser oscillation behavior had a great influence on the sidewall penetration, a 3D heat transfer model of narrow gap oscillating laser welding of high-strength steel was established for numerical simulation. The effect of oscillation parameters on sidewall penetration was investigated by quantitatively analyzing the sidewall penetration under different oscillation parameters. The results showed that the high-temperature region of the molten pool changed periodically with the laser oscillation. As the oscillation amplitude increased from 0 mm to 1.5 mm, the molten pool cross-section shape changed from tip shape to arc shape, the peak temperature of the sidewall increased from 1857℃ to 2115℃, and the sidewall penetration also increased from 0.82 mm to 0.96 mm. As the oscillation frequency increased from 20 Hz to 100 Hz, the peak temperature of the sidewall decreased from 2036℃ to 1936℃. However, more heat was accumulated in the high frequency mode, and the value of sidewall penetration increased from 0.9 mm to 0.94 mm.