Frozen clamps can hold tendons and ligaments tightly and transmit high loads, from 4 kN to 13 kN, without slippage, yet they are complex and expensive. The existing non-frozen serrated jaw clamp is simple to fabricate and use, but the maximal tensile force it can sustain is only about 2.5 kN, which is not enough in many biomechanical tests. In this study, a new type of non-frozen clamp, which has lateral block boards and asymmetrical teeth jaws, was designed. The lateral block boards made of titanium alloy were used to prevent the soft tissues from being squeezed out during compressing, while the asymmetrical teeth jaws made of nylon were used to grip and keep holding soft tissues. The capability of this new type of clamp was tested by stretching five cattle tendons to failure on the tensile and compression testing machine, none of them displayed any slippage before rupture, the maximum tension force was 6.87 kN. This non-frozen asymmetrical teeth jaw clamp was designed for gripping tendons in foot and ankle dynamic simulation test, but it can also be applied to other in vitro tests, such as hip and knee dynamic tests.