Firstly, the principle and structure of hydraulic energy regenerative damper is designed based on a brand rear damper in order to reduce energy consumption and realize energy recovery of suspension vibration. Based on the working principle, the theoretical model of the relation between flow rate and pressure drop of the hydraulic energy regenerative damper is established. Then, an equivalent parameterized simulation model is established in AMESim to analyze whether the external characteristics and energy recovery characteristics of the designed damper can meet actual requirements. Finally, the simulation model of the energy regenerative suspension is established and combined with the pavement time-domain input model built in Simulink in order to analyze the influence of the energy regenerative damper on the vehicle ride comfort and the energy recovery effect under actual road conditions. The results indicate that: the compression/extension damping force of the damper meets the national standard requirements; the performance characteristic curve is full without obvious distortion and presents good external characteristics; hydraulic energy regenerative damper meets the original idea of energy recovery only during compression strokes. The results also indicate that: the energy regenerative characteristic curve is affected by the high-frequency response characteristics and presents a significant peak performance; the suspension ride comfort meets the requirement and has certain energy recovery potential in actual driving. The hydraulic energy regenerative damper designed in this paper can meet the expected target, which has reference value for energy conservation and emission reduction.