Aiming at the problem of large torso disturbance of hydraulic quadruped robot in locomotion, the torso disturbance inhibition strategy for the hydraulic quadruped robot based on kinematics and virtual model is proposed. In this study, the generation mechanism of the torso disturbance and its influence are analyzed. The kinematic equation of the whole quadruped robot is established. The torso disturbance is suppressed according to the realtime attitude feedback of the robot. The virtual springdamper elements are introduced in the degrees of freedom of rolling and pitching of the torso, and the virtual force is adjusted to control the torso attitude. Facing to the trot gait of the robot, the foot end trajectory planning of the robot in the swing phase and support phase is carried out. Experiment verifications were carried out on the hydraulic quadruped robot test platform. The experiment results show that the proposed disturbance inhibition strategy could adjust the joint angle according to the torso attitude of the robot,the fluctuation of the robot torso is small and the actual locomotion trajectory of the robot is close to its theoretical one, which verifies the effectiveness of the proposed disturbance inhibition strategy.