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Currently, there are mechanized products available for pepper transplanting and harvesting, but manual operations are still required for pruning, which is crucial for increasing pepper yield. Considering the diverse planting environments for peppers, a self-leveling pepper pruning machine was designed and its leveling control system was developed. Based on the agricultural practice of pepper pruning, an end-effector for pruning was designed and its working principle was introduced. The flexible-body discrete element model of pepper plants was established by using EDEM software to simulate the interaction between the end-effector and the plant.Orthogonal experimental analysis was performed by selecting three parameters, namely feed speed,，end-effector tilt angle, and roller speed, which had a significant impact on the pruning performance.The optimal parameter combination for the end-effector was determined as follows：feed speed was 1.5 m/s, end-effector tilt angle was 15°, and roller speed was 1 187 r/min. To meet the requirements of operating in complex hilly terrain, a dual-axis leveling mechanism was designed and its working principle was introduced. Dynamic simulation of the designed leveling mechanism was conducted in ADAMS, providing reference for the selection of the driving components. Simultaneously, the leveling control algorithm was determined, and the response speed of the traditional PID algorithm was compared with the fuzzy PID algorithm by using the Matlab/Simulink simulation module. Finally,，a prototype of pepper pruning was built and field experiments were conducted. The experimental results showed that at a working speed of 1.5 m/s, the lateral branch cutting rate reached 86.3%, the pepper plant damage rate was controlled within 6.7%, and the final success rate of pepper branching was 76.7%, verifying the feasibility of the designed pepper pruning mechanism.