The changes in soil properties caused by vegetation succession might have great effects on the process of soil detachment by overland flow. This study was carried out to quantify the effects of varied soil properties induced by natural grass succession on soil detachment capacity by overland flow and soil resistance to flowing water erosion on the Loess Plateau. 300 undisturbed soil samples (without roots) were collected from ten typical grasslands, and subjected to flow scouring under six shear stresses ranging from 4.98 to 16.37 pa. The results showed that the maximum soil detachment capacity (3.80 kg m−2 s−1) was found in Astragalus melilotoides Pall. grassland, where it was 49.0 times greater than that of the minimum found in Poa sphondylodes Trin. grassland. Soil properties induced by fibrous root herbage have strong effects on the process of soil detachment. In comparison to grasslands with tap root systems, grasslands with fibrous root herbage have lower soil detachment and rill erodibility by 84.6% and 84.3%, respectively, and critical shear stress which is higher by 15.2%. Stream power was a better parameter than velocity, shear stress or unit stream power for simulating soil detachment capacity. Soil cohesion, bulk density, organic matter and median soil grain size were the main factors affecting the process of soil detachment. Rill erodibility decreased with cohesion or clay content as an exponential or power function, and increased with the median soil grain size as an exponential function. A model was developed to estimate soil detachment capacity based on hydraulic parameters and soil properties on the Loess Plateau. The result was satisfactory and the performance of model was greatly improved in comparison to previous studies (R2 = 0.77; NSE = 0.61; p < 0.01).