Abstract Detonation velocities and soot patterns of H2/O2 mixtures were measured in glass tubes of 3, 6 and 10 mm diameters at pressures ranging from 70 to 400 Torr and equivalence ratios of 0.5–1.5. It was confirmed that the transition from a multi-head to a spinning detonation occurred at the pressure where the cell size is equal to the length of circumference. At this transition pressure, the velocity was 95% of the C-J detonation. Stable spinning detonations were observed at wide range of initial pressures below the transition point. Detonation velocities were continuously decreasing with decreasing initial pressures in this pressure region. Spinning detonations with velocities down to 85% of the C-J detonation were observed. Those deficits in detonation velocities were well predicted by the modified ZND model with full detailed chemical kinetics. Heat and momentum losses were taking into account in this model. Validity of the modified ZND model to define the limit of detonation propagation was discussed.