Pressure changes in the liquid-filled fluid circuit of a hydraulically interconnected suspension (HIS) system can induce vibrations of the whole pipeline and the associated structure, and hence become a source of structural noise which degrades ride comfort. This paper presents a numerical and experimental investigation into the vibration of the hydraulic piping system of a passive interconnected suspension. The transfer matrix method (TMM) is used to develop a mathematical model, which consists of various pipe sections, hose sections, concentrated masses, spring supports, elbows, damper valves, and accumulators. Laboratory experiments are performed on two liquid-filled piping systems. The measured steady-state responses of the hydraulic circuits are compared with those obtained from numerical simulations of the developed model. It is found that the developed model of the hydraulic system has a reasonable accuracy in the frequency range of interest, and thus can be employed to optimise the design of the hydraulic system.