According to the principle of suspension constrained minimization, an interconnected hydraulic torsion-elimination suspension system was put forward. Firstly, the structure and principle of the system was introduced, the interconnected hydraulic torsion elimination suspension system was set up in the AMESim and the vehicle dynamic model was established with Matlab/Simulink. Co-simulation based on Matlab/Simulink and AMESim was carried out to analyze the dynamic performance of interconnected hydraulic torsion-elimination suspension system. The principle prototype of interconnected hydraulic torsion-elimination suspension system was designed and its bench test was performed. Simulation and experimental results were basically identical. The results showed that compared with the traditional passive suspension, interconnected hydraulic torsion-elimination suspension can effectively inhibit the body vibration, control the body posture and coordinate the vehicle riding comfort and safety, improve vehicle passing ability in extreme condition, eliminate part of the body torsion load and perform the real time control of vehicle steering characteristics.