Efficient calculation of the electrostatic interactions including repulsive force between charged molecules in a biomolecule system or charged particles in a colloidal system is necessary for the molecular scale or particle scale me-chanical analyses of these systems. The electrostatic repulsive force depends on the mid-plane potential between two charged particles. Previous analytical solutions of the mid-plane potential, including those based on simplified assumptions and mode mathematic methods, are reviewed. It is shown that none of these solutions applies to wide ranges of inter-particle distance from 0 to 10 and surface potential from 1 to 10. Three previous analytical solutions are chosen to develop a semi-analytical solution which is proven to have more extensive applications. Furthermore, an empirical closed-form expression of mid-plane potential is proposed based on plenty of numerical solutions. This empirical solution has extensive applications, as well as high computational efficiency.