This study analyzed the duct characteristics of hubless rim-driven propeller (RDP) used in underwater robots. In the previous study, flow visualization experiments were performed with an advancing ratio of 0.2 to 1. The vortex at the front of the duct increased in strength while maintaining its size as the advancing ratio decreased. Therefore, it is necessary to study the optimization of the duct shape. Conventional propeller thrusters use acceleration/deceleration ducts to increase their efficiency. However, unlike conventional propellers, it is impossible to apply to airfoil acceleration/deceleration ducts due to the RDP structure. In this study, duct wake flow characteristics, thrust force, and efficiency according to the duct shape of RDP were analyzed using numerical analysis techniques. Duct design is limited and six duct shapes were designed. As a result, an optimized duct shape was designed considering duct wake flow characteristics, thrust force, and efficiency. The shape that the outlet width of the RDP was kept constant until the end of the duct showed higher thrust force and efficiency.