Soybean seeds were ground by high-speed grinder to produce soy flour, and the slurry-cooked soymilk and whole soybean soymilk were performed by the obtained soy flour, dry-pulping technology omitted the soaking procress. Based on the average particle and stability of soymilk, single factor and orthogonal experiments were carried out to enhance the parameters of soymilk. Optimum grinding time, material-to-water ratio, and heat preservation time for making of slurry-cooked soymilk were 120 s, 111 (g/mL), and 30 min, respectively. Optimum grinding time, material-to-water ratio, and heat preservation time for making of whole soybean soymilk were 120 s, 112 (g/mL), and 15 min, respectively. Compared with traditional whole soybean soymilk, the average particle size of dry-pulping whole soybean soymilk decreased 66.43%, the content of total soluble solid (TSS) and soluble protein increased 14.41% and 16.57%, respectively. In addition, compared with traditional slurry-cooked technics, the average particle size of dry-pulping slurry-cooked soymilk increased 78.03%, and the content of TSS and soluble protein increased 42.36% and 42.76%, respectively. Finally, there was no significant difference in sensory evaluation between traditional soymilk and dry-pulping soymilk (P<0.05).