Dielectric loaded graphene plasmon waveguide (DLGPW) is proposed and investigated. An analytical model based on effective-index method is presented and verified by the finite element method simulations. The mode effective index, propagation loss, cutoff wavelength of higher order modes and single-mode operation region were derived at mid-infrared spectral region. By changing Fermi energy level, the propagation properties of fundamental mode could be tuned flexibly. The structure of the DLGPW is simple and easy for fabrication. It provided a new freedom to manipulate the graphene surface plasmons, which may led to new applications in actively tunable integrated optical devices.