Shaftless rim-driven thruster (RDT) has recently become the research focus for marine propulsion, primarily due to low vibration, low noise, and energy saving as its advantage. This study is based on CFD theory and used the Ansys-Fluent software to examine the hydrodynamic performance of a novel rim-driven counter-rotating thruster (RDCRT). It takes a No.19A+Ka4-70 duct propeller and a 20 kW RDT as examples, as it verifies the feasibility of the simulation method. It establishes three geometric models for RDCRT's hydrodynamic performance to determine whether it is necessary to consider the motor stator/rotor gap. It examines the flow distribution characteristics of the gap fluid friction force and flow channel and investigates the gap's influence on the hydrodynamic performance. Relevant case studies indicate that, when considering the gap, the calculation outcomes of the simulation model are between the stationary model and the rotational model of the rotor inner wall when ignoring the gap. In the Forward and Aft regions, the total frictional power of the gap channel correspondingly accounts for 1.7% and 1.35% of the rated power. Additionally, compared to situations with a gap, the pressure coefficient of the inner surface of the Forward and Aft rim without a gap is more significant. Thus, the hydrodynamic simulation model should not ignore the gap. For the RDCRT, the thrust coefficient, the torque coefficient, and the maximum efficiency value are more significant than those of the single-propeller RDT, hence validating its advantages