Steel catenary risers (SCR) connect seabed pipelines and flow lines to floating structures used for oil and gas production in deep waters. Waves and currents induce motions of the structure and the risers. The repeated motions of the risers at the touchdown zone in turn induce loads on the seabed soil and might eventually cause fatigue damage to the risers. The analysis of riser fatigue damage is heavily dependent on the soil model. Soil behaviour at touchdown zone such as soil remoulding, stiffness degradation and deformation of the seabed at the touchdown zone further complicate the accurate assessment of riser fatigue damage, which is currently not appropriately quantified in existing design methods. This paper presents centrifuge model tests simulating the repeated vertical movement of a length of riser on clay seabed with increasing undrained shear strength with depth. During the tests, the pipe was subject to cyclic motion over fixed vertical displacement amplitude from an invert embedment of 0.5–3.5 pipe diameters into the soil. The test results show a significant progressive degradation of soil strength and diminution of excess pore water pressure with increasing number of riser penetration/uplift cycle. In view of the different types of environment loadings experienced by floating platforms and various soil conditions, tests were also conducted to investigate the effect of soil strength, riser displacement rate and loading mode on riser–soil interaction during repetitive penetration/uplift motion of the riser.