This paper investigates visual and haptic feedback modalities for a virtual reality based robot teleoperation system. The focus of the study was to enhance robot teleoperation by optimizing the movement of the controller through trialing a new data transmission format, and exploring sensory feedback through both visual and haptic modalities. Our experiments show how these improvements enable more precise control and timely feedback, improving both teleoperation efficiency and safety. The intuitive feedback mechanism combining VR technology and a sensory enhancement system enables users to perceive the robot’s working status in real-time through vision and haptics. Two user experiments were conducted to verify the effectiveness of the system, and to compare the effects of different feedback modes on the accuracy, efficiency and user experience. The results showed that the improved system reduces user burden and improves efficiency. Different users prefer specific feedback methods, and multiple methods can satisfy most users’ feedback preferences, greatly enhancing their ability to control the robot remotely.