The invention discloses a heavy vehicle linear rotating motor type steering energy returning suspension on a vehicle. A motor shell coaxially extends into a center hole of an oil cavity shell, whereina motor cavity is formed in the middle of the motor shell, a linear rotating motor is contained in the motor cavity, an oil cavity formed by one main oil cavity and four auxiliary oil cavities is formed in the oil cavity shell, the four auxiliary oil cavities are uniformly formed in the oil cavity shell in the circumferential direction, the side wall of the upper end of each auxiliary oil cavityand the side wall of the lower end of the main oil cavity are sequentially connected and communicate with one radial auxiliary oil cavity channel, one axial channel and one radial main oil cavity channel, a motor rotating shaft is located in the right middle of the motor cavity and extends downwards out of an end cover, a spiral spring is wound around the outer side of the oil cavity shell, the upper ends of four same auxiliary piston rods extend upwards into the four auxiliary oil cavities in a one-to-one correspondence manner, one auxiliary piston is fixedly connected to the upper end of each auxiliary piston rod in a concentric manner, and a main piston is arranged inside the main oil cavity. The suspension can further provide rotary movement besides linear movement.