Space exploration presents challenges, particularly in adapting soil drilling tools for efficient subsurface investigation of the Moon and other extraterrestrial bodies. Traditional tools used on Earth are impractical due to payload restrictions in space missions. To address this issue, the development of light and compact probes is essential for overcoming payload barriers. This research focuses on the development of two concepts for subsurface investigation tools: 1) the utilization of subsonic projectile probes, which can be launched from a lunar orbiter or lander to the surface of the Moon, and 2) bio-inspired vibroprobes, which can be mounted on a lunar rover. As such, in the first part of this thesis, an analytical model is developed to predict the deceleration rate and final penetration depth of a rigid projectile probe under perpendicular subsonic impact. The analytical model, developed based on the spherical cavity expansion theory, considers plastic and elastic stress fields by incorporating the Mohr–Coulomb failure criterion. The proposed solutions in the subsonic range have been validated using field ground-based experimental data found in the literature. This validation confirms the model’s reliability in estimating the dynamic motion of the penetrator and highlights its potential as a benchmark for more complex, sophisticated numerical calculations. The second part of this thesis involves the development of a biomimetic vibro-based probe, which deploys energy-efficient high-power vibrations to enhance penetration into granular materials. This is carried out by drawing inspiration from observed bending vibrations in biological mechanisms such as snakes, horned lizards, and sandfish. First, the influence of vibration frequency, amplitude, and probe head on penetration resistance is assessed computationally using the discrete element method. The simulation outcomes suggest that high-frequency lateral vibrations hold promise in decreasing the required overhead load for the penetration of probes into granular media. Then, the impact of lateral vibration is physically investigated by developing proof-of-concept bio-inspired vibroprobes in the laboratory. The probes are equipped with thin piezo patches to induce lateral vibration, manifesting as bending vibrations in the structure of the probes. Through experimental testing, the capability of the vibroprobes to reduce penetration force and enhance the penetration process into granular materials is assessed. The experimental results demonstrated a significant reduction in penetration force, reaching up to 42%, when employing bi-directional bending vibrations in the circular cross-section probe. This highlights the effectiveness of bending vibration in developing compact subsurface drilling tools. These two concepts provide a promising strategy for overcoming soil drilling challenges in remote subsurface investigations.