With an increasing number of construction of offshore platform, the accident of dropped objects has become more frequent and extensive, drilling pipes may fall into sea and cause some severe accidents, such as collisions with underwater structures, personal safety concerns and environmental problems. It’s necessary to study such a scenario to avoid serious injuries to ocean structures. In this study, the process of a cylinder falling into water is simulated numerically using the commercial CFD(Computational Fluid Dynamics) software STARCCM +, combined with overset grid method to realize its 6-DOF(Six Degrees of Freedom) motions. The cylinder is placed at seven different drop angles, from 0°to 90°, a working case is set every 15°to simulate its different complete free fall motions into water. The drag coefficient, falling velocity and the motion trajectory of the cylinder during the falling stage are monitored and analyzed. In addition, the horizontal condition is selected for numerical simulation in the wave environment, which is compared with the static water environment.The simulation results show that the falling velocity, drag coefficient and trajectory of the cylinder are affected dramatically by its initial drop angle and working condition environment. These findings are of great significance for studying the motion characteristics of objects in fluids, provide an effective reference for related engineering design and scientific research and produce some inspirations and methods to solve the problem of falling objects at sea.