Unlike track slabs in high speed railways, floating slabs in metro lines are usually relatively thicker and their thickness can often reach 0.5 m or more. When the thickness of the track slab is relatively large compared to the length and width, the influence of shear effect and rotatory inertia will become significant and it is more reliable to regard the track slab as an elastic thick plate than adopt the classical thin plate model in the simulation. This paper presents a three-dimensional dynamic model for coupled vehicle-floating slab track (CVFST) systems on the basis of Mindlin plate theory for the first time. The floating slab is described as an elastic rectangle Mindlin plate with free boundary conditions resting on steel springs, the mode shapes of the Mindlin plate are approximated by series of products of Timoshenko beam functions, and the corresponding vibration equations are solved by Rayleigh-Ritz method in time domain. The vehicle subsystem and track subsystem are coupled via wheel-rail nonlinear interactions. The effectiveness of the proposed model is validated by comparing with the measured data from an impact test and numerical results in the previous literature. Influence of size effect on the slab natural frequencies and dynamic responses of the CVFST system are investigated, and discrepancies of the calculation results between the developed model and the traditional thin plate model are simultaneously discussed. Some practical conclusions are drawn and the developed model may serve as a potent tool for more accurate assessment of train-induced vibrations in metro lines.