Model checking is one of the most commonly used technique in formal verification. However, the exponential scale state space renders exhaustive state enumeration inefficient even for a moderate System on Chip (SoC) design. In this paper, we propose a method that leverages symbolic execution to accelerate state space search and pinpoint security vulnerabilities. We automatically convert the hardware design to functionally equivalent C++ code and utilize the KLEE symbolic execution engine to perform state exploration through heuristic search. To reduce the search space, we symbolically represent essential input signals while making non-critical inputs concrete. Experiment results have demonstrated that our method can precisely identify security vulnerabilities at significantly lower computation cost.