The invention relates to a simulation control system for the remote tele-operation of a lunar rover in the technical field of virtual reality. The system comprises an off-line analysis module, a map building module, a virtual sensing module, a graphical programming module, a three-dimensional simulation module, a tele-operation module and a manual input module, wherein, the off-line analysis module and the graphical programming module are respectively connected with the three-dimensional simulation module so as to output a moon surface digital geometric model and a path planning procedure, the map building module is connected with a lunar rover system so as to receive the image sequence and a slant angle signal and to output an actual cartographic model to a virtual sensing module, the virtual sensing module outputs an overall map to the graphical programming module, and the tele-operation module receives the simulation result outputted by the three-dimensional simulation module, the simulation program outputted by the graphical programming module and the movement control instruction outputted by the manual input module and outputs the locus control to the lunar rover system. The invention can effectively and safely control the lunar rover, simulates the process of tele-operation control on the lunar rover, and presents online and real-time simulation display.