We construct Kaluza-Klein-type models with a de Sitter or Minkowski bundle in the de Sitter or Poincare gauge theory of gravity, respectively. A manifestly gauge-invariant formalism has been given. The gravitational dynamics is constructed by the geometry of the de Sitter or Minkowski bundle and a global section which plays an important role in the gauge-invariant formalism. Unlike the old Kaluza-Klein-type models of gauge theory of gravity, a suitable cosmological term can be obtained in the Lagrangian of our models and the models in the spin-current-free and torsion-free limit will come back to general relativity with a corresponding cosmological term. We also generalize the results to the case with a variable cosmological term.