In order to improve the stability of the quadruped robot in Trot gait and reduce the complexity of control strategy, a control strategy of quadruped robot based on virtual model was proposed. The control strategy of quadruped robot is divided into three parts: support phase and body locomotion control, swing leg phase locomotion control and foot trajectory planning. The forward and backward diagonal supporting feet existed in the supporting phase of Trot gait. After analyzing the stress situation of the supporting feet of the quadruped robot, related constraints were added to achieve the controllable force and torque of the quadruped foot. The attitude and height control of the quadruped robot were realized by adding corresponding virtual spring damping components in the centroid position of the robot body. By adding a virtual spring damping component between the actual position of the swinging leg and the environment and combining with the foot trajectory planning, the flexible walking and foot trajectory tracking accuracy of the quadruped robot were realized. The effectiveness and superiority of the control strategy are verified by establishing a joint comparison simulation through Matlab and CoppeliaSim.