Measurement and identification of the nonlinear friction force of an electro-hydraulic servo shaking table at low speed or at the corner of inverse direction is a significant way to enhance its control precision. An improved nonlinear dynamical model of friction force for electro-hydraulic servo shaking table is built according to the Stribeck effect, and the objective function to identify the friction parameters is built based on the force balance equation of electro-hydraulic servo shaking table. Pressure difference of hydraulic cylinder at different velocity of piston is measured by a novel but simplified method, and the mathematical relationship between the velocity and friction of hydraulic cylinder is conformed. Four nonlinear parameters of friction force are identified using a developed hybrid genetic algorithm with quasi random sequences. The feasibility of the modeling and measuring method is verified by comparing the theoretical modeling with experimental results. The research can provide a certain reference for the acceleration distortion compensation of hydraulic shaking table.