Based on ostrich foot locomotion posture, energy storage and vibration reduction mechanism of the metatarsophalangeal joint (MTP), a bionic adaptive low vibration walking wheel was designed to improve the low vibration performance. Through the finite element method (FEM), motion process of the walking wheel was analyzed on the soft/hard ground. The result showed that under the condition of 30N load and 10(°)/s, the fluctuation range of the bionic walking wheel center was reduced by 85.71% and 93.33% on the soft and hard ground, respectively. In order to further verify the vibration reduction performance of the bionic walking wheel, the light load of lunar soil/wheel interaction test system was employed for test. When the slip ratio was smaller than 40%, the drawbar pulling force of the bionic walking wheel was all larger than the traditional walking wheel. When the slip ratio was larger than 40% and the speed was 20(°)/s, the drawbar pulling force of the bionic walking wheel was less than the traditional walking wheel. The results showed that the bionic walking wheel was provided with better traction and passing-through performances on the soft ground. Under the condition of 30(°)/s, the accelerations were reduced by 6.3% and 15.8% on the soft and hard ground, respectively. Meanwhile, the amplitudes were reduced by 14.6% and 9.6%, respectively. On the premise that passingthrough performances of the bionic wheel was assured, combining the simulation and test data on the soft and hard ground, the wheel center fluctuation of the bionic walking wheel was smaller than that of the traditional walking wheel. Therefore, the vibration of the walking wheel, caused by polygon effect, was solved effectively.