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, a compound transmitting coil that combined a planar circular coil with a conical solenoid was proposed. And a novel magnetic coupling power transfer mechanism was established using a racetrack coil as the receiving coil. The mutual inductance of the magnetic coupling mechanism was calculated based on Neumann’s formula, and the Maxwell software was employed to analyze the transfer characteristics of the magnetic coupling mechanism with different magnetic core combinations. The effects of coil structural parameters and magnetic core combinations on system magnetic flux leakage, anti-misalignment performance, and transfer efficiency were investigated. Finally, the genetic algorithm (GA)-particle swarm optimization (PSO) optimization algorithm was applied to optimize the coil structural parameters, thereby obtaining a high-efficiency WPT system with strong anti-misalignment performance. A WPT platform was built based on this transfer system to verify the system’s transfer performance. The results show that increasing the angle between the conical coil and the horizontal plane can improve the anti-misalignment capability of the composite coil transfer mechanism, but it leads to a decrease in the maximum coupling coefficient. The use of disk-shaped and U-shaped magnetic cores can be used to reduce the magnetic flux leakage of the magnetic coupling mechanism and enhance its magnetic coupling performance. The optimized magnetic coupling system can maintain high transfer efficiency even when there is misalignment between the transmitting coil and the receiving coil.