In the process of concrete pumping, the friction of particles on the pipe wall often leads to severe problems such as excessive pumping pressure and even pipeline rupture. In this study, a single-objective optimization of pump truck boom conveying pipe was performed to minimize pumping pressure loss by CFD-DEM and interior-point algorithm techniques. Firstly, taking the pipeline pressure loss as the index and considering the characteristics of boundary lubrication layer, the simulation of straight pipe concrete pumping is verified by the CFD-DEM coupling method. Secondly, the functional relationships between pumping pressure loss and inclination angles of different pipes were determined. Finally, the optimal spatial attitude of pipe was compared with a common used initial layout model of boom conveying pipe. The results indicated that the optimized pumping pressure loss was reduced by 2.6%, the particle distribution in the pipeline is more concentrated, and the particle movement speed is increased.