The invention provides a gear engaging control method for a dual-clutch automatic transmission with a synchronizer. According to the method, gear shifting is divided into two stages from synchronization to engagement, i.e., the gear engaging stage and the engaging stage. A closed-loop control mode is provided, smooth engaging of a gear sleeve and a connection gear is achieved by means of the control method that positive gear shifting force is controlled through a curve path mode and negative acting force is regulated in real time according to the position of a gear shifting fork and the moving speed of the gear shifting fork, and therefore gear shifting impact is reduced.