Lack of force feedback, which is one of the most urgent problems in laparoscopic surgery, can be solved by installing sensors on the surgical grabbers; however, there are many limitations such as biocompatibility and sterilization. In order to study the force on soft tissue during laparoscopic surgery, this paper presents a method to estimate the grasping force based on the grasper jaw parameters. The grasping action of soft tissues was reduced to the compression process of soft tissues by a single grasper jaw. A laparoscopic grasping force estimation model was explored by using the parameters of compression speed, compression depth, and contact area between the grasper jaw and the soft tissue. The goodness of fit of the prediction model was 0.992 for the compression force of pig kidney tissue, respectively, which could achieve a good fitting effect. Finally, the calculated value of the prediction model is compared with the measured value. The results show that the reliability and goodness of fit of the prediction are good.