A model is presented of the depth of penetration in gas metal arc welding. This model is based on the assumption that the heat and mass transfer to the weld pool and the depth of penetration may be correlated by a dimensionless relation. This correlation leads to an analytical expression for depth of penetration, which involves empirical constants that are related to the efficiency of heat and mass transfer to the pool. The accuracy of the model is examined by comparing the theoretical depth of penetration and the measured depth of the weld pool for a range of processing variables encompassing short arc and free flight mass transfer. Measurements are obtained from bead on plate welds of stainless steel using a stainless steel electrode and a shielding gas that is rich in argon. The results confirm that the depth of penetration is affected by variations in the rate of mass transfer.