Restricted by the delay of TT&C communication link, communication bandwidth and relay communication arc, interplanetary space teleoperation technology is different from Earth Moon space teleoperation technology. The mission characteristics, technical difficulties and flight control design constraints of the Mars rover teleoperation are summarized. Aiming at solving the technical problems of the first interplanetary space teleoperation of China, this paper studied and established the Mars rover teleoperation control mode and key technology system, put forward the overall design method and system architecture of the Mars rover Teleoperation system, and designed the Mars rover teleoperation flight control mode and implementation process. The method proposed in this paper has been successfully applied to the teleoperation mission of Zhurong Mars rover. Zhurong Mars rover always maintains efficient movement and exploration, and the 100 d teleoperation mileage exceeds 1 kilometer, which verifies the correctness and effectiveness of this method, and lays a technical foundation for follow-up interplanetary space teleoperation missions.