In order to effectively reduce vibration impacts on vehicle performance, this study designs a magnetorheological adaptive hydro-pneumatic suspension system based on magnetorheological damping technology and develops an effective control method. The research process consists of three main phases: First, an electromagnetic-force coupling model of the magnetorheological hydro-pneumatic spring was established through mechanical performance testing. Subsequently, leveraging the structural characteristics of the double-wishbone magnetorheological hydro-pneumatic suspension, we developed a dynamic simulation model for the single wheel double-wishbone magnetorheological suspension system using 3D modeling software combined with SimMechanics. Finally, to address the nonlinear characteristics of magnetorheological hydro-pneumatic springs, we proposed and implemented a Fuzzy-PID semi-active control strategy through simulation analysis. The simulation results demonstrate that compared to passive control and On-Off control strategies, the suspension implementing Fuzzy-PID control exhibits superior vibration reduction capabilities under road excitation, leading to significant improvements in both ride comfort of the vehicle.