The invention discloses a hydraulic-motor angular speed servo system. The hydraulic-motor angular speed servo system comprises an angular-speed command signal generator, a servo controller, a servo amplifier, a servo object, an angular-speed measuring sensor and a hydraulic source. The servo controller comprises a comparator, a first integrator, an integration coefficient Ki1 multiplier, a first subtractor, a second integrator, an integration coefficient Ki2 multiplier, a second subtractor, a feedback coefficient Kd1 multiplier and a feedback coefficient Kd2 multiplier. The servo object comprises an electro-hydraulic servo valve, a hydraulic motor and a mechanical load. Adjustment of control parameters has calculation formulas to follow, so that blindness of parameter adjustment is avoided, time is saved, system stability is improved, and overshooting is avoided; static and dynamic performance of the electro-hydraulic angular speed servo system are improved comprehensively, floating is realized, dynamic response time is short, overshooting and vibration are avoided, and dynamic tracking precision is high.