Ensuring the safe landing of deep-sea mining vehicles (DSMVs) on soft seabed sediments is critical for the stability and operational reliability of subsea mineral extraction. However, deep-sea sediments, particularly in polymetallic nodule regions, are characterized by low shear strength, high compressibility, and rate-dependent behavior, posing significant challenges for full-scale experimental investigation and predictive modeling. To address these limitations, this study develops a high-fidelity finite element simulation framework based on the Coupled Eulerian–Lagrangian (CEL) method to model the landing and penetration process of full-scale DSMVs under various geotechnical conditions. To overcome the high computational cost of FEM simulations, a data-driven surrogate model using the random forest algorithm is constructed to predict the normalized penetration depth based on key soil and operational parameters. The proposed hybrid FEM–ML approach enables efficient multiparameter analysis and provides actionable insights into the complex soil–structure interactions involved in DSMV landings. This methodology offers a practical foundation for engineering design, safety assessment, and descent planning in deep-sea mining operations.