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The master-slave force feedback control system of tele-operation was set up. The master manipulator system was composed of two 2-DOF manipulators, and each one adopted two servo valves to control two hydraulic servomotors in order to obtain two rotational decoupling degrees. The master manipulator force information was used to control the servo valve so that the master manipulator could be driven, thus the problem that the master operation force could not directly drive the master manipulator hydraulic motor has been solved. The slave manipulator is 4-DOF system that the original hydraulic shovel bucket was replaced by a new single degree manipulator claw, which set up a series joint 4-DOF manipulator, and hydraulic proportional direction valve control method was applied to the slave manipulator. Force reflection servo and force symmetry bilateral servo control strategies were individually tested on the master-slave system to study the tele-operated force feedback bilateral servo control. The master manipulator’s structure is reasonable, and the force symmetry bilateral servo control method has better control features.