This paper aims at developing a new design method of the active-shunted hybrid type of piezoelectric damping system for structural vibration suppression. Piezoelements are actively driven with series tuned RL shunting circuits. Considering shunting circuits as compensators (or filters), both shunt resistors and active control gains are designed by using filtered LQ control theory. Experimental test and numerical simulation of a simple cantilevered beam demonstrate the structural damping capability of the hybrid piezoelectric damping system. Control effort by the active control could be reduced by the hybrid piezoelectric damping system.