A single droplet model is developed to describe the droplet growth during dropwise condensation of moist air on a cold substrate. The condensation process is divided by the droplet surface into two parts. The first step, i.e. the processes of mass transfer from the surroundings to the droplet surface, is modeled by the Kinetic theory and the laws of continuum fluid dynamics formulated using the two-region concept (Knudsen layer and continuum region) at any droplet size and at any concentration of non-condensable gas (NCG). The second step, i.e. the heat transfer across the droplet, is governed by Fourier's law of heat conduction. These three regions (the continuum region, the Knudsen layer and the region inside the droplet) are incorporated by the matching both the mass flow rates and the energy flow rates. From these, the droplet growth rate, the nucleation size of droplet, the temperature at the droplet surface and Knudsen layer interface can be evaluated depending on different conditions. For this, a numerical algorithm is developed to reflect the droplet dynamics sufficiently detailed, including nucleation, growth/coalescence, slide-off/fall-off, re-nucleation. This is applied to the simulation of the entire condensation process by putting the growth rate and minimum radius from single droplet model into the growth algorithm. Additionally, dropwise condensation experiments of moist air in different relative humidity (RH) are carried out for validation of the simulation results. Good agreement is obtained which demonstrates that the present droplet growth model for dropwise condensation of moist air is credible. The current model and experiments also indicate that the diffusion resistance of water vapor in air from the free stream toward the droplet surface has a significant influence for the heat transfer performance of drop wise condensation of moist air. (C) 2017 Elsevier Ltd. All rights reserved.