The hydrodynamic drainage force between a spherical silica particle and a soft, elastic polydimethylsiloxane surface was measured using the colloidal probe technique. The experimental force curves were compared to finite element simulations and an analytical model. The hydrodynamic repulsion decreased when the particle approached the soft surface as compared to a hard substrate. In contrast, when the particle was pulled away from the surface again, the attractive hydrodynamic force was increased. The hydrodynamic attraction increased because the effective area of the narrow gap between sphere and the plane on soft surfaces is larger than on rigid ones.