The invention discloses a bidirectional DC/DC converter capable of freely reversing, and a control method thereof. The bidirectional DC/DC converter comprises a high-voltage filtering unit, a full-bridge push-pull high-frequency isolation transformation unit, a filtering energy storage unit, a low-voltage filtering unit and a digital control system, wherein the high-voltage filtering unit stabilizes a high-voltage DC voltage; the full-bridge push-pull high-frequency isolation transformation unit realizes high-frequency isolation bidirectional power transmission of the converter; the filtering energy storage unit reduces low-voltage output current ripples when the converter is in positive step-down operation, and serves as a step-up inductor for energy storage when the converter is in negative step-up operation; the low-voltage filtering unit filters out a high-frequency ripple current so as to reduce the low-voltage side voltage ripples; and the digital control system realizes bidirectional power transmission and free reversing operation functions of the converter. The control method comprises the steps of sampling, conditioning and filtering, analog-to-digital conversion, digital filtering, voltage control signal updating, current control signal updating, digital PWM modulation, and PWM signal power amplification. The bidirectional DC/DC converter is capable of freely reversing in two directions, and the control method is simple and reliable.