The invention provides an electro-hydraulic servo PID control method and system based on dynamic matrix feed-forward prediction. The method comprises carrying out optimization on input quantity of an electro-hydraulic servo system through combination of a DMC feed-forward controller and a PID negative feedback controller, and comprises the following specific steps: establishing the DMC feed-forward controller; optimizing the performance index of the electro-hydraulic servo system through the DMC feed-forward controller, and carrying out rolling optimization on control input value of the electro-hydraulic servo system; establishing the PID negative feedback controller, and obtaining the control input value of the optimized electro-hydraulic servo system; and obtaining a head optimized control input value of the electro-hydraulic servo system according to the control input value of the electro-hydraulic servo system obtained by the DMC feed-forward controller through rolling optimization and the optimized control input value of the electro-hydraulic servo system obtained by the PID negative feedback controller. Through the electro-hydraulic servo PID control method and system, the problems of object-independent mathematic model and interference of outside world can be solved.