Improvement on noise, vibration and wear in silent chain drives is always an important research subject. However, design methods revealed in public are few because the silent chain shapes are variable and complex. A feasible design procedure is extremely required for improving transmission performance of chain drives. Therefore, a novel design optimization procedure for the rocker-joint silent (RJS) chain and sprocket drive is proposed in this paper. The mathematical models of geometry generation, tooth contact analysis and impact velocities at different mesh stages and chain raise amount in the RJS chain drive have been established. Besides, impact velocities and raise amount which may produce ill effects in the chine drive are incorporated as a multi-objective function to carry out the global minimization trying to find out the optimal design parameters for RJS chain drives. The single-objective optimization trends have also been verified with the previous references.