Electro-hydraulic hybrid testing, which imposes the desired acceleration and force on the specimen in parallel, is a novel structural testing method for structures or facilities and is extensively applied in civil and seismic engineering. To efficiently suppress the surplus force resulted from the acceleration motion of the specimen during the force control process, a compound force tracking control strategy comprised of a force and voltage feedforward controller (FVFC) and feedforward inverse with disturbance observer (FIDOB) controller is presented in this research. The FVFC controller as an inner loop feedforward component is first constituted by the generated force feedback signal and the real-time control voltage signal of the acceleration actuator so as to compensate for the acceleration motion of the specimen for a better disturbance rejection performance, and the FVFC controller requires little information of the system dynamic structure or parameters. The FIDOB controller composed by a feedforward inverse controller and an inverse model-based disturbance observer is then combined with the FVFC controller as an outer loop to further deal with the remaining disturbances for the FVFC-controlled electro-hydraulic hybrid testing system. The inverse model applied in the FIDOB controller is obtained with the frequency domain complex curve fitting and zero magnitude error tracking technology with respect to the proportional–integral controlled static loading system. Hence, the proposed controller integrates the advantages of the FVFC controller and FIDOB controller in terms of easy implementation and high tracking performance. Finally, comparative experiments are carried out on an uniaxial electro-hydraulic hybrid testing test rig with the xPC rapid prototyping technology and experimental results demonstrate the effectiveness of the proposed control strategy.