Pigging is still the most widely used method to remove wax deposits in subsea pipelines. The passage of a pig is still considered a risky operation, since the pressure gradient available for driving the pig might not be sufficient to overcome the contact forces between the pig and the wall, as well as the forces required to remove the wax deposit. If this is the case, the pig will be stuck, and costly remediation procedures will have to be implemented. In the present work, an experimental study was carried out aimed at collecting reliable data on the contact forces developed between pigs and the pipe wall for some types of pigs commonly used in field operations. Also, as part of the work, the forces required to remove wax deposits prepared under controlled conditions were recorded. To this end, a test section was specially designed and constructed. In the tests, the pigs were pulled through a set of pipes at constant speed by a winch, while the pulling force was continuously recorded by load cells. The results obtained for the contact forces between disc, foam and conical cup pigs and the pipe wall without wax deposits were compared with models available in the literature. Good level of agreement was obtained. Experimental results obtained for the cases where the test pipes had controlled wax deposits where compared with the only model available in the literature for predicting the forces required to break the wax deposits. The comparisons demonstrated that the measured forces required for breaking the wax deposit can be estimated by the available models within an uncertainty of ±30%.