The noise, vibration and harshness (NVH) behaviors of axial piston pumps are important performance criteria for their operation. A systematic investigation is required to study their vibro-acoustic characteristics. In this investigation, the vibro-acoustic characteristics of an axial piston pump were experimentally measured under run-up and steady-state operating conditions. The sound pressure level and vibration were measured, interpreted and analyzed under the run-up operating conditions. The sound quality of the pump, including its loudness, sharpness and roughness, was also evaluated. The effects of speed and pressure on loudness, sharpness and roughness were examined. The results showed that the proposed experimental methodology is effective for evaluating the overall vibro-acoustic characteristics of axial piston pumps. The most relevant noise components can be identified and extracted by a thorough analysis of the vibro-acoustic characteristics using the proposed analysis methodology. The study contributes to better understanding the vibro-acoustic characteristics of axial piston machines.