The invention discloses a vehicle queue stability control method considering communication delay. The method comprises the steps that 1, a vehicle queue following mathematical model is established; 2,a nonlinear lower layer control gain is constructed by a feedback linearization strategy, and a node power unit is described as a node linear model; 3, a high-dimensional closed-loop state equation of a vehicle queue following control system under dynamic parameter uncertainty is established; 4, sufficient conditions are used for giving sufficient conditions that a vehicle queue with communication delay has a stabilization controller under the symmetric communication topology; and 5, the stabilization controller is constructed to obtain a controller gain so as to control static feedback control of a distributed controller, and the stability of the vehicle queue following control system is ensured. The method can ensure the stability of the vehicle queue following control system, reduces the vehicle queue following interval, increases the traffic flow, and reduces the energy consumption.