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Agar is a hydrophilic polysaccharide. As a common stabilizer of food, agar can improve the viscosity and texture of yoghurt. Moreover, agar can help to prevent the whey separation and improve the quality of yoghurt. The effect of different agar concentrations (0.025%~0.5%) on the microrheological properties and gel kinetics of acid-induced milk protein gel was investigated. Results showed that the elasticity index (EI) trend of agar-skim milk samples was similar with skim milk sample. So there was no significant effect of agar concentration on skim milk acid-induced gel in the fermentation stage. Macroscopic viscosity index (MVI) of agar-skim milk mixed system was higher than skim milk system significantly before the formation of gel network (P<0.05). But there was no significant difference between them after the gel formation (P≥0.05). Mesh size of all samples was decreased sharply with the fermentation process. In the cooling stage, EI of samples was increased in the agar concentration, while MVI had no significant difference (P≥0.05). It can be concluded that adding agar can increase the gel strength of the yoghurt, but it had no significant effect on the fermentation process. The suitable agar concentration in yoghurt was determined by analyzing the kinetic equation of agar-skim milk acid gel formation process. In conclusion, this research revealed microrheological properties of agar-yoghurt gels through microrheological method and gelation kinetics. The results can provide the reference and theoretical basis for the application of agar in the enterprises of yoghurt. This research also can help to promote the development of yogurt industry.