The umbilical cable tensioner is a core component of deep-water oil and gas development, and it can lay and recover the umbilical cables to ensure the transmission of communication signals, electric signals or liquid injection. The displacements of tensioner’s clamping hydraulic cylinders, which are not synchronized as the nonlinear electro-hydraulic control system, results in the occurrence of the crawler mechanism’s stuck phenomenon or cause umbilical cable deformation or even cause damage by the extrusion in the umbilical cable’s clamping process. To ensure synchronous clamping, the structure scheme of umbilical cable tensioner, crawler mechanism, clamping mechanism and the hydraulic system of synchronous clamping control is designed in this study. This article also analyzes the function of structure parameters and hydraulic cylinders’ displacement, speed and acceleration, and builds the synchronous clamping mechanical model to reveal crawler mechanism’ clamping law. The study proposes the control strategy including the fast moving stage, the working stage and the pressuring stage based on proportional–integral–derivative control, and analyzes the characteristics of synchronous clamping control by building the synchronous clamping experimental platform in the lab environment. The experimental data shows that the tensioner’s hydraulic cylinders have excellent synchronous clamping performance and the theoretical analysis is feasible. The research has important guiding significance for the tensioner design, and provides theoretical support for the laying of the deep-sea umbilical cables.