To reduce the labor intensity and improve the working conditions for drivers, a teleoperation system was developed for tractors. First of all, a general design was expanded according to requirements that the teleoperation system should be achieved. Through wireless network communication, the tractor’s working environment can be transmitted with video to a teleoperation terminal where an operator was located, and the operator can send commands to drive tractor. Then a MY 250 tractor was refitted for remote steering, clutch, braking, throttle, shutdown and ignition by installing actuators such as motors and electric putters. In addition, a teleoperation control system was designed, including a user interface and an onboard control system. Finally, tests were carried out to detect the system performances about communication, action and driving. Results demonstrated that the average communication delay was 0.074 ms, and the maximum video delay was 373ms for the teleoperation system, the maximum control error was 2.21% for all actuators, and the maximum absolute error was no more than 208.5mm when the tractor was driven along a straight line at speed of 2.08km/h by the teleoperation system, with a maximum root mean square (RMS) error of 85.5mm. This research can provide reference and solution for the development of agricultural machinery with teleoperation technology. 