We study the dynamics of the quasi-one-dimensional Ising-Heisenberg antiferromagnet BaCo2V2O8 under a transverse magnetic field. Combining inelastic neutron scattering experiments and theoretical analyses by field theories and numerical simulations, we mainly elucidate the structure of the spin excitation spectrum in the high-field phase, appearing above the quantum phase transition point μ0Hc ≈ 10 T. We find that it is characterized by collective solitonic excitations superimposed on a continuum. These solitons are strongly bound in pairs due to the effective staggered field induced by the nondiagonal g tensor of the compound and are topologically different from the fractionalized spinons in the weak-field region. The dynamical susceptibility numerically calculated with the infinite time-evolving block decimation method shows an excellent agreement with the measured spectra, which enables us to identify the dispersion branches with elementary excitations. The lowest-energy dispersion has an incommensurate nature and has a local minimum at an irrational wave number due to the applied transverse field.