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The control parameter of the semi-active suspension system varies with road profile; therefore, in this study a new algorithm based on cuckoo search (CS) optimization method and road estimation was proposed to investigate the characteristics of the nonlinear parameters and at the same time improve the riding comfort. Based on this, a seven degree of freedom full vehicle model was developed with nonlinear damper and spring. The sprung mass acceleration, pitch acceleration, and tire deflection could be selected as the objective functions, and the control current of semi active suspension was selected as optimization variable. A multi-object CS algorithm was utilized to obtain the optimal parameters under different road profiles, and a road estimation algorithm was used to identify the road level. Then the control parameters could be adjusted adaptively according to the level of the road.