Aiming at the problem of walking power and stability of the straddle Camellia oleifera fruit harvester, a set of chassis walking hydraulic system of the straddle Camellia oleifera fruit harvester with better power matching and walking performance was designed based on the mechanical-hydraulic co-simulation technology. The virtual prototype model of the straddle type crawler chassis was established in RecurDyn software, and the B-level road spectrum was constructed by using the harmonic superposition method. The dynamic characteristics of the crawler chassis in straight-line driving and differential steering were simulated and analyzed. The mechanical and hydraulic co-simulation of the traveling system of the crawler chassis was carried out to study the hydraulic characteristics of the traveling motor under straight-line driving and differential steering conditions by AMESim and RecurDyn software. A straddle type Camellia oleifera fruit harvester driven by four-wheel triangular crawler was manufactured, and the straight-line driving and differential steering tests on road were carried out. The deviation rate of the chassis straight-line driving was 1.7%. The flow rate of the traveling motor was stable at 23L/min and the pressure was stable at 1.5MPa when traveling along a straight line. The flow rate of the traveling motor was stable at 22L/min, and the pressure was fluctuated within the range of 2~12MPa during differential steering test. The results verified the stability of the traveling hydraulic system of the straddle type crawler chassis.