We theoretically and experimentally investigate a method of exciting multipole plasmons, including terahertz dark spoof localized surface plasmon (Spoof-LSP) modes, by using normally incident terahertz vortex beam. The vortex beam with angular intensity profile and phase singularities, has well-defined angular momentum which can be decomposed into the polarization-state-related spin angular momentum (SAM) for characterizing the spin feature of photon, and the helical-wavefront-related orbital angular momentum (OAM) that is characterized by an integer $ (l) $, called the topological charge. By illuminating terahertz vortex beam on the metallic disk with periodic subwavelength grooves normally, we find that the terahertz dark multipole plasmons can be excited by the terahertz vortex beam carrying different OAM and SAM. We analyze the correspondence between the spin and orbital angular momentum of vortex beam and the excited dark multipolar plasmon modes. In the experiment, a terahertz stepped spiral phase plate (SPP) with high transmission and low dispersion based on the Tsurupica olefin polymer is developed and the stepped SPP can generate a terahertz vortex beam having a topological charge of 1. Then, we further study the excitation of dark multipolar Spoof-LSPs by utilizing the stepped SPP in combination with the near-field scanning terahertz microscopy. The collimated terahertz wave, which is radiated from a 100 fs (λ = 780 nm) laser pulse pumped photoconductive antenna emitter, is converted into terahertz circular polarized light (CPL) which can carry SAM by the combination of the quarter wave plate and the polarizer, and then terahertz CPL impinges on the stepped SPP, producing the terahertz vortex beam which can carry OAM. The spatial two-dimensional electric field distribution is collected in steps of 0.02 mm along the x-direction and y-direction by a commercial terahertz near-field probe which is located close (≈ 10 μm) to the one side of polyimide film by three-dimensional electric translation stage and a microscope (FORTUNE TECHPLOGY FT-FH1080). The experimental results are in good agreement with simulations. We believe that our method will open the way for detailed research on the terahertz physics, plasma and imaging fields.