The invention discloses a cooperative control method of vertical vibration and pitching vibration of a tracked vehicle. The method comprises the following steps that 1, state-variable numeric values needed by a controller are obtained; 2, numeric values of virtual pitching control torque and vertical control force are calculated; 3, control force distribution is conducted, and distribution of vertical force of all suspension is conducted on the calculated numeric values of the virtual pitching control torque and vertical control force according to a distribution method; 4, the suspension executes actions according to the distributed numeric values, wherein all the suspension carries out the actions according to the actual characteristics and the distributed numeric values to achieve control over vertical vibration and pitching vibration of the tracked vehicle. By means of the method, precise control over vertical vibration and pitching vibration of the tracked vehicle is achieved withno road surface information and low energy consumption.