K-TIG welding is a highly efficient welding technique that enables full penetration to be achieved with a single pass, without the need for groove preparation or wire filling. Comprehending the distinct arc characteristics of K-TIG welding is the cornerstone for exploring the metallurgical process, heat, and mass transfer phenomena, and serves as a guide for design considerations. In this study, 2D numerical models of arc plasma in K-TIG welding were established. The arc characteristics of the keyhole state and non-penetrated state were compared, while the influence of welding parameters on arc characteristics was further investigated. Finally, the calculated arc pressure was validated by experiments. Results show that the electric potential gradient in the arc column decreases after the keyhole forms, while the temperature increases at the center of the anode surface and decreases on both sides away from the arc center. Higher welding currents and smaller tungsten tip angles will lead to an increase in the temperature and velocity of arc plasma. As the tungsten tip height increases, the arc temperature increases on both sides but decreases in the arc center, and the pressure in the inner wall of the keyhole shrinks.