The invention discloses a control system and a control method of a human cervical vertebra simulation device. The control method comprises the steps of: controlling the human cervical vertebra simulation device to rotate by adopting an impedance control strategy based on positions, so that the human cervical vertebra simulation device is in a state to be lifted and pulled, thereby realizing the rotating process simulation and ensuring flexibility of the rotating process; and adopting a force tracking control strategy for controlling a driving motor to drive the human cervical vertebra simulation device in the state to be lifted and pulled, and performing lifting and pulling process simulation, so as to realize the simulation of a non-linear relation between a joint rotating angle and an external acting force. By adopting the control system and the control method, the simulation of the human cervical vertebra biomechanical features under a rotary lifting technique is realized.