A magnetorheological hydropneumatic suspension system is applied to a certain type of wheeled armored vehicle in this study. Aiming at the vibrative problem existing during the driving of armored vehicles, a mechanical model of the magnetorheological hydropneumatic spring is established, and a vehicle skyhook damping control strategy for fundamental driving scenarios is applied. It is designed to achieve optimal damping matching under specific driving states. A co-simulation platform integrating ADAMS/Car and MATLAB/Simulink is developed for the semi-active suspension system. Comparative analyses between passive and active hydropneumatic suspensions under random road excitation, conducted under specified driving conditions, the results show that this control method is of certain help in improving the ride comfort of the vehicle.