A two-dimensional axisymmetric fluid model was established to investigate the dynamic behavior of pre-ionized pulsed-direct-current helium plasma jets at atmospheric pressure. Our simulation results show that, at a relatively low pre-ionization level, the electron number density is reduced and the streamer propagation is decelerated before the plasma jet is ejected from the tube, which is attributed to the inhibitory effect of a recombination process between the positive ions in the streamer and the seed electrons near the anode. As the pre-ionization reaches a relatively high level, the electron number density is larger than that without pre-ionization before the plasma jet is ejected from the tube, which originates from the promotion effect of decreased breakdown voltage. These two competing mechanisms jointly dominate the dynamic behavior of gas discharge in the presence of pre-ionization. After the plasma jet is ejected from the tube, the enhanced discharge power is responsible for the strengthened electric field in the streamer head, augmented total ionization rate, accelerated streamer propagation, and increased number density of electrons and active species, whatever the pre-ionization density is. With the increase in pre-ionization density, the plasma jet length, streamer propagation speed, discharge power, and discharge energy exhibit the initial increase and subsequent decrease variation trend. The optimal enhancement effect is obtained at the pre-ionization density of 6 × 1012 m−3, with the plasma jet lengthened by 28.4% and the energy deposition efficiency enhanced by 28.1%.