Abstract A dynamic model of rotating shrouded blades with impacts among adjacent shrouded blades is established considering the effects of the centrifugal stiffening, spin softening and Coriolis force, and the model is validated using finite element method. In the proposed model, the shrouded blade is simplified as a cantilever Euler–Bernoulli beam with a mass point at the free end, and the flexural dynamic stiffness of shrouded blade is selected as contact stiffness during collision. Based on the developed model, the effects of symmetric and asymmetric shroud gaps, rotational speeds, and aerodynamic force amplitudes on the dynamic characteristics of shrouded blades are analyzed through Newmark-β numerical method. The results indicate that (1) the vibro-impact responses of shrouded blades under some asymmetric gaps are more complicated than that under symmetric gap. (2) With the increase of rotational speed from 6000 to 10,000 rev/min, the system vibration experiences from period-three motion, through chaotic motion, finally to period-one motion during collision process because the increasing rotational speed changes the flexural dynamic stiffness of rotating blade. (3) The vibration displacements of shrouded blades increase linearly, and impact force increases linearly with the increase of aerodynamic force amplitude.