Recently, there have been frequent reports of subsea cable breakage accidents caused by the drop of an anchor pile for aquaculture works involving subsea cables for high-voltage direct current (HVDC) transmission embedded in the southwest sea of Korea. To determine the burial depth that can ensure the safety of subsea HVDC cables embedded under the seabed from the drop of anchor files, the soil penetration characteristics of anchor piles should be reasonably estimated. In the present study, the penetration characteristics of anchor piles into the soil under which subsea HVDC cables are embedded were evaluated using numerical simulations and field verification tests. The numerical simulation for the soil penetration phenomena of anchor piles was carried out using the fluid–structure interaction analysis method using the general purpose nonlinear finite element analysis code based on explicit time integration. Regarding the soil into which anchor piles penetrate, three types of soil—a clay layer, a sand layer, and a clay–sand mixed layer—were considered, which are the representative soil types in the southwest sea of Korea, where many subsea HVDC cables have been embedded. The result of fluid–structure interaction analysis showed that the maximum penetration into the clay layer was higher than that into the sand layer and the clay–sand mixed layer by 86.3% and 36.4% or more, respectively. The error rates of the field verification test and the fluid–structure interaction analysis were found to be 9.8%, 2.4%, and 2.4% in the clay layer, the sand layer, and the clay–sand mixed layer, respectively, which were found to be reasonable levels when considering that it was the numerical simulation for the soil penetration of an anchor pile resulting from drop impacts. The penetration depths of anchor piles were found to be the deepest in the clay layer, showing values of 3.9 to 4.1 m, and those in the sand layer were the shallowest, showing values of 1.9 to 2.1 m.