A hydraulic motor with digital distribution mechanism based on high speed solenoid valves (HSV) was introduced. Firstly, the operating principle and the structure characteristics of the proposed hydraulic motor were described. Then, the mathematical model of the proposed hydraulic motor was established according to the distribution process for counterclockwise and clockwise rotation by analyzing the piston dynamics of each plunger. The differences of the two distribution process were analyzed. The related simulation was conducted and the direction changing process of the proposed hydraulic motor was studied. The experiments were carried out to validate the effectiveness of the simulation results. Finally, the influence of the frequency of HSV was discussed and the performance was compared between the proposed motor and the traditional one. 