The dynamic behavior of a single pile was investigated by using analytical and numerical studies. The focus of this study was to develop the dynamic p-y curve of a pile for pseudo-static analysis considering the shear wave velocity of the soil by using three-dimensional numerical analyses. Numerical analyses were conducted for a single pile in dry sand under changing conditions such as the shear wave velocity of the soil and the acceleration amplitudes. The proposed dynamic p-y curve is a shape of hyperbolic function that was developed to take into account the influence of the shear wave velocity of soil. The applicability of pseudo-static analysis using the proposed dynamic p-y curve shows good agreement with the general trends observed by dynamic analysis. Therefore, the proposed dynamic p-y curve represents practical improvements for the seismic design of piles.