A combined horizontal penetrometer was designed for the on-the-go and simultaneous measurement of soil water content and mechanical resistance. The maximum sampling rate for both sensors was 10 Hz and the maximum operating depth was 20 cm. For the water-content sensor, its measurement principle depends on the electric field of the fringe-capacitance. In order to evaluate the applicability of this combined penetrometer, four experiments in the field were carried out. These experiments included: (1) soil water content profiles test; (2) soil compaction measurement test; (3) effect of the operating velocity on the water content and resistant force measurement; (4) effect of operating depth on the force measurement. The experimental results show that the combined horizontal penetrometer is a practical tool since it can provide more useful information of soil physical properties.