Aiming at the problem that some joint movements exceed the safety range and lead to safety accidents in the compliance control process of redundant manipulator, a compliance control method of redundant manipulator based on joint priority was proposed. In this compliance method, the joint angle increment was calculated by combining the weighted generalized inverse matrix of Jacobian matrix with the end velocity of manipulator in impedance control, and the joint angle was updated iteratively. During the movement of the manipulator, in order to reduce the angle increment of the overrun joint, the corresponding joint was set with a smaller joint priority to keep the angle change of the overrun joint within a safe range. Finally, an 8-DOF redundant manipulator was used to make compliance control experiment. The results show that the angle increment of the joint decreases after setting the corresponding joint to a smaller priority, which proves the feasibility and effectiveness of the compliance control method.