The mathematic model of semi-active suspension with time delay was built. Based the mathematic model, the system's time delay was analyzed, and the fuzzy neural-network control with time delay compensating was designed. Then the semi-active suspension control system was developed, which with C8051 singlechip as its key parts. After the simulation, the bench test was done on the reality semi-active suspension test-bed. The results showed that the fuzzy neural-network control can solve the control “harmony” and better coordinate the contradiction between vehicle comfort and safety.