The limited capabilities of current fatigue testing machines have resulted in studies on the fatigue behavior of rubber under large-displacement amplitude and high frequency being very sparse. In this study, a fatigue testing system that can carry out large-displacement amplitude and high-frequency fatigue tests on rubber was developed using a moving magnet voice coil motor (MMVCM) actuator, with finite element analysis applied to analyze the thrust of the MMVCM actuator. The results of a series of cyclic tension tests conducted on vulcanized natural rubber specimens using the developed fatigue testing system verify that it has high precision, low noise, large-stroke, and high-frequency characteristics. Further, the load frame with the developed MMVCM actuator is feasible for material testing, especially for large-stroke and high-frequency fatigue tests.