The features of friction phenomenon of hydraulic cylinder were analyzed. Based on LuGre model and considering the hydraulic cylinder friction properties, the hydraulic cylinder friction model was established by introducing the dynamic characteristics of lubricant film. The principle diagram of the model was set up in the Simulink. The simulation results are consistent with the experimental results, indicating that the new model can reflect the vast majority of the friction characteristics observed in experiment with a high precision. The new model can be used for the simulation of high precision hydraulic system and the research of control strategy.