This paper presents a magnetorheological (MR) automobile damper with a self-sensing function. The self-sensing structure is designed based on the principle of triboelectric nanogeneration. The self-sensing performance of the MR automobile damper is verified from the theoretical analysis and experimental results. A vehicle suspension vibration control system composed of 1/4 vehicle suspension, fuzzy control algorithm, and vibration excitation platform is established to test the vibration control performance of self-sensing MR automobile damper (SMRAD). The experimental results show that the fuzzy control system reduces the body acceleration of the vehicle suspension compared with the passive control. The root mean square value of vehicle suspension body acceleration is reduced by 28.8% compared with the vehicle body acceleration under passive control. This verifies the effectiveness of the self-sensing performance of the speed self-sensing structure of the MR automobile damper. The application of the SMRAD in the vehicle suspension improves the vibration reduction performance of the vehicle suspension.