To enhance the anti-misalignment capability of magnetic coupling coils in dynamic wireless power transfer (Dynamic WPT) while ensuring high-efficiency power transmission, based on the strong coupling characteristic of planar coils and the advantage of uniform magnetic field distribution of conical helical coils, this paper proposes a compound transmitting coil that combines a circular planar and a conical helical coil. Then a racetrack coil serves as the receiving coil to construct a novel magnetic coupling power transmission mechanism. First, an analytical mutual-inductance model is derived from Neumann’s formula, and Maxwell 3-D FEA is employed to analyze the transmission characteristics of magnetic coupling mechanisms with different magnetic core combinations, revealing how coil structural parameters and magnetic core combinations influence system magnetic flux leakage, anti-misalignment performance, and transmission efficiency. Finally, the GA-PSO optimization algorithm (Genetic Algorithm-Particle Swarm Optimization) is employed to optimize the structural parameters of the coils, thereby obtaining a high-efficiency WPT system with strong anti-misalignment performance. Based on this transmission system, a WPT experimental platform is built to verify the system’s transmission performance. Results demonstrate that increasing the angle between the conical coil and the horizontal plane can improve the anti-misalignment capability of the composite coil transmission mechanism, but it leads to a decrease in the maximum coupling coefficient; the use of disk-type and U-type magnetic cores can reduce magnetic flux leakage of the magnetic coupling mechanism and enhance magnetic coupling performance; the optimized magnetic coupling system can maintain high transmission efficiency even when there is misalignment between the transmitting coil and the receiving coil.