A suspension control system includes a suspension device (2) that connects a sprung member (5) and an unsprung member (6) of a vehicle, an actuator (3) operable to adjust frictional force along a stroke direction of the suspension device (2), and a control device (4) configured to control the, actuator (3), based on a velocity direction of the sprung member (5) parallel to the stroke direction of the suspension device (2), and a stroke velocity direction of the suspension device (2), so as to adjust suspension frictional force as the frictional force along the stroke direction of the suspension device (2). The control device (4) is configured to adjust a magnitude of the suspension frictional force, so that it becomes substantially equal to a required frictional force determined based on a value obtained by exponentiating the velocity of the sprung member (5), and a value obtained by exponentiating the stroke velocity of the suspension device (2).