Bionic quadruped robots have emerged as a focal point of research in the field of robotics, due to their outstanding stability and remarkable adaptability to complex environments. Through continuous refinement and advancement, the integration of torque and position hybrid control methods has achieved notable results. In this paper, a bionic quadruped robot with a twelve-degree-of-freedom serial leg structure is designed and developed. The Trot gait principle is carefully analyzed. Subsequently, a foot- end trajectory generation model and a leg VMC (Virtual Model Control) control algorithm are established to implement the force-position hybrid control motion for the robot’s joints. The findings of the experimental research show that, compared with traditional PID (Proportional-Integral-Derivative) control, the bionic quadruped robot using the VMC algorithm reduces the impact on the robot’s leg mechanical structure during locomotion and improves the anti-interference capabilities of the quadruped robot.