The high-speed flight maglev vehicle is an entirely new mode of ultra-high-speed transportation system without wheels. The suspension system, which is considered as the wheels of high-speed flight maglev vehicle, plays an important role in the safety and reliability of high-speed flight maglev vehicle. In this paper, the mathematical model of suspension system with consideration of joint structure is established specifically. Moreover, the state space equations of the suspension system are established and linearized, and the suspension controller is designed based on full-state feedback algorithm. The controller has already been implemented successfully, and the test results indicate that the performance of the suspension system is qualified.