Considering that the course group regarding theory and design of mechanisms is characterized by strong engineering application background and the students generally feel very boring and tedious during the learning process, some teaching reforms for the theory and design of mechanisms are carried out to improve the teaching effectiveness in this paper. Taking the engineering cases as the teaching objectives, we combine the course contents with the engineering background. Moreover, in order to help the students understand the knowledge difficulty and improve the design capacity of the mechanisms and machines, the MATLAB technology is introduced into the theoretical teaching to provide assisted analysis. At the same time, the MATLAB is also introduced into the practical teaching to provide theoretical guidance. The teaching effect shows that MATLAB-based teaching reform under the engineering application can deepen the understandings of course contents for students, improve the interest in learning, strengthen the design capacity and develop the innovation ability.