The vehicle suspension system, as a core component of the vehicle’s driving system, directly impacts passenger comfort, handling stability, and even driving safety. Passive suspension systems are limited by their inherent structure and parameters, making them unable to adapt to various road conditions and different loads. This paper designs and develops a cylindrical magnetorheological damper for vehicle suspension systems, establishes the Bingham model and its inverse model for the magnetorheological damper, proposes an adaptive canopy control method for magnetorheological suspension systems, constructs an experimental system for vehicle magnetorheological semi-active suspension systems, and conducts vibration control tests on a quarter-suspension system under different road conditions and load conditions. The test results indicate that the magnetic rheological suspension system and control method established in this paper can adapt to changes in road surface and load conditions, thereby reducing vehicle vibration. The research findings of this paper can meet the urgent demand for adaptive vibration-reducing suspension systems in vehicles.