In this paper, a semi-active control of vehicle suspension system with magneto-rheological (MR) damper is presented. The first part of this paper describes the vibration suppression in passive, active and semi- active suspension systems. Subsequently several mathematical models are used to simulate and analyze hysteresis behavior of magneto-rheological brake. The second part of this work is devoted to derivation of the dynamic model equation of the experimental setup. The last part presents the evaluation of the dynamic simulation modeling results with the full-scale experimental data. Simulation results show effects of the semi-active control on the vibration of suspension system.