Abstract The suspension system is crucial for providing a comfortable ride and ensuring smooth driving. This article presents a random road surface model and a 1/4 vehicle two-degree-of-freedom semi-active suspension model. The optimal control performance index function was obtained by using the minimum principle, and the optimal controller for semi-active suspension was designed. Simulations were conducted in MATLAB/Simulink, using vehicle acceleration, suspension dynamic deflection, and tire dynamic deformation as evaluation indicators. The study found that the vehicle’s acceleration, suspension dynamic deflection, and tire dynamic deformation were reduced by 21.79%, 21.86%, and 9.88%, respectively, with the use of the designed semi-active suspension optimization controller. This resulted in improved driving smoothness and riding comfort.