To achieve stable walking of a hydraulic driving quadruped robot, according to the principle of stability margin, the gait planning for JQRI00 quadruped robot was researched, and its motion control algorithm was deduced. The kinematics prototype of JQRI00 quadruped robot was established according to the structure characteristics of quadruped robot, and the inverse kinematics analysis of each joint motion was obtained. According to the driving characteristics of JQRI00, the motion control algorithm was studied. ADAMS was used to simulate the robot. The results of simulation and control system experiment were accurate and reasonable. It shows that the gait planning is correct and feasible, and the control algorithm is effective in real time, which provides reference for complex motion control in later stage of robot research.