To solve the problem of optimization of vehicle suspension kinematics,a new method to describe the kinematics constraint conditions by mathematics and to optimize the kinematics parameters by Newton iteration method is presented. With it,the proper variable of the suspension and the optimum solution can be found quickly,so that it is suitable to the optimization of suspension kinematics with multi-variable and multi-objective function. Taking a off-road vehicle’s problem in toe angle and camber angle as an example,the optimization results of hard-points coordinates show that the desired characteristics of the suspension kinematics can be achieved in two step iterations.