A dynamical model of prominence loops is constructed on the basis of the theory of hydromagnetic buoyancy force. A prominence loop is regarded as a flux rope immersed in the solar atmosphere above a bipolar region of the photospheric magnetic field. The motion of a loop is partitioned into a translational motion, which accounts for the displacement of the centroidal axis of the loop, and an expansional motion, which accounts for the displacement of the periphery of the loop relative to the axis. The translational motion is driven by the hydromagnetic buoyancy force exerted by the surrounding medium of the solar atmosphere and the gravitational force exerted by the Sun. The expansional motion is driven by the pressure gradient that sustains the pressure difference between internal and external gas pressures and the self-induced Lorentz force that results from interactions among internal currents. The main constituent of the hydromagnetic buoyancy force on a prominence loop is the diamagnetic force exerted on the internal currents by the external currents that sustain the pre-existing magnetic field. By spatial transformation between magnetic and mechanical stresses, the diamagnetic force is manifested through a mechanical force acting at various mass elements of the prominence. For a prominence loop in equilibrium, the gravitational force is balanced by the hydromagnetic buoyancy force and the Lorentz force of helical magnetic field is balanced by a gradient force of gas pressure.