The understanding of how the sediment deposit thickness influences the incipient motion characteristic is still lacking in the literature. Hence, the current study aims to determine the effect of sediment deposition thickness on the critical velocity for incipient motion. An incipient motion experiment was conducted in a rigid boundary rectangular flume of 0.6 m width with varying sediment deposition thickness. Findings from the experiment revealed that the densimetric Froude number has a logarithmic relationship with both the thickness ratios ts/d and ts/y0 (ts: sediment deposit thickness; d: grain size; y0: normal flow depth). Multiple linear regression analysis was performed using the data from the current study to develop a new critical velocity equation by incorporating thickness ratios into the equation. The new equation can be used to predict critical velocity for incipient motion for both loose and rigid boundary conditions. The new critical velocity equation is an attempt toward unifying the equations for both rigid and loose boundary conditions.