This paper establishes a general dynamic two-dimensional nonlinear time-varying (TDNLTV) vibration model with multi-drive shaft for shield tunnel boring machine (TBM) cutterhead driving system. Multiple-input and multiple- output (MIMO) state-space vibration model of cutterhead driving system is also presented. TDNLTV vibration model is simulated, and physical parameters' effects on the vibration response are detailed investigated. A preliminary approach is proposed to reduce vibration or nonlinear vibration behaviors. Dynamic TDNLTV vibration model provides a basic foundation of fault detection and diagnosis (FDD) and health monitoring for cutterhead driving system.