With high demands for novel technologies in the marine mechatronic instrumentality and the limitations of the present hydraulic pumps, a novel bidirectional seawater hydraulic internal ball gear pump is proposed to accomplish the function of fluid power transmission and control. The proposed hydraulic pump can be used for hydraulic buoyancy control systems of underwater vehicles and different marine mechatronic equipment. In this paper, the model, the meshing and the flow characteristics of the internal ball gear pump are developed. The radial unbalance force of the pump, leakage, and flow pulsation are also analyzed. The new type of eccentric shaft-hole rotary sealing designed in this paper can eliminate axial leakage and is expected to improve volumetric efficiency, working pressure, and power density. Simulation and experimental results show that: (1) by using the concave/convex ball gears rather than the existing gears, the concave ball gear drives the convex ball ring to rotate, realizing energy transfer and conversion; (2) compared with the water hydraulic internal gear pump, the internal ball gear pump has excellent performance. Experimental results also show that when the speed is 1500 rpm, the maximum operating pressure can reach 7 MPa. At 2 MPa, its volumetric efficiency and flow can reach 75% and 0.189L/min, respectively. The outcomes of this study show that the proposed seawater hydraulic internal ball gear pump is effective and has a lot of potential.