Based on the Tu scheme [G.-Z. Tu, J. Math. Phys.30 (1989) 330], we construct a counterpart of the Boiti–Pempinelli–Tu soliton hierarchy from a matrix spectral problem associated with the Lie algebra so(3,R), and formulate Hamiltonian structures for the resulting soliton equations by means of the trace identity. We then show that the newly presented equations possess infinitely many commuting symmetries and conservation laws. Finally, we derive the well-known combined KdV-mKdV equation from the new hierarchy.