In view of the poor electronic conductivity and low Zn-ion diffusion coefficient of vanadium-based oxides as positive electrode material for aqueous Zn-ion batteries, a novel electrode material Ca²⁺ pre-intercalated V₂O₅ with high specific capacity and good rate performance has been prepared by hydrothermal method with the addition of an appropriate amount of hydrogen peroxide as inductive agent. V₂O₅ with pre-embedding Ca²⁺ has a slightly increased interlayer spacing (about 0.023 nm) on (001) crystal plane, which is beneficial to the embedding/detaching of Zn²⁺ and the improvement of Zn storage performance as the cathode material aqueous Zn-ion battery. The highest specific capacity of Ca²⁺ pre-intercalated V₂O₅ cathode material is up to 242 mAh·g^-1 which is 1.9 times of the product prepared without hydrogen peroxide. After 40 charge-discharge cycles, the specific capacity is 217.26 mAh·g^-1 showing the higher capacity retention rate at low current density. When the current density returns to 0.1 A·g^-1, the capacity retention rate is 95.6%, indicating the enhanced rate performance of Ca²⁺ pre-intercalated V₂O₅ cathode material. The calculation result about the kinematic behavior of Ca²⁺ pre-intercalated V₂O₅ cathode material shows that the high pseudocapacitive control proportion is 52% at the scanning rate of 0.2 mV·s^-1 with the pseudocapacitive proportion increasing as the scan rate increased.