This research proposes a novel hydro-pneumatic suspension structure based on high-speed on-off solenoid valves, which can realize two spring force modes and four damping force modes. The basic working principles of the HPS with multiple output force modes are analyzed to establish the damping and stiffness features mathematical models. Based on the parameters taken from a mine dump truck, the stiffness coefficient and damping coefficient of the proposed HPS are matched firstly, then the initial charging pressure of accumulators and the diameter of throttle valves are determined. Finally, the validity of the proposed model is demonstrated by comparing the force-displacement and the force-velocity responses of the model with the corresponding measured experimental data under a broad range of excitations.