Electrochemical hydrogen storage can realize reversible hydrogen absorption and desorption at room temperature and pressure, which has attracted extensive attention recently. A nanosheet-like reduced graphene oxide (rGO)-porous carbon composite with N-doping defect is prepared via a facile annealing, followed by hydrothermal and freeze-drying process. After N-doping, the porous carbon materials exhibit rich pore structure, and high pyridine nitrogen and pyrrolic nitrogen content. Adding them into the graphene self-assembly process, the aggregation tendency of graphene sheets can be reduced, the composite shows a free-standing 3D porous structure. Benefit from the synthetic effect between the rGO conductive network, the hierarchical porous structure, and the doping of N atoms, the rGO-N800 delivers a high hydrogen storage capacity of 266.3 mAh g−1 at 200 mA g−1 after 100 cycles. Moreover, the reversible capacities of the composite can reach 288.4, and 267.1 mAh g−1 at 1000 mA g−1 and 2000 mA g−1, respectively. The outstanding electrochemical performance of the composite demonstrates a promising direction for design carbon-based hydrogen storage materials.