Since electromagnetic gauge theory and its generalization (Yang-Mills gauge field theory) have succeeded in quantum field theory and particle physics, it requires that the theory of gravitation also be a gauge field theory under certain local gauge symmetries, e.g., local Lorentz or Poincaré invariance. The discrepancy between unusually large quantum vacuum energy density and observational cosmology may indicate that the generic gravity theory of Einstein is a low-energy phenomenological theory, and a more fundamental theory of gravity might be hidden behind it. A new spin-connection gauge theory for gravitational interaction at high energies (close to the Planck energy scale) is introduced. In such a gravitational gauge field theory, the local Lorentz group is the gauge symmetry group, and the spin-affine connection serves as a non-Abel gauge field (fundamental dynamical variable). A third-order differential equation of metric can be obtained as the gravitational gauge field equation, where the Einstein field equation of gravitation is a first-integral solution. As the vacuum energy density is a constant, the covariant derivative of its energy-momentum tensor unavoidably vanishes. Therefore, the quantum vacuum energy term disappears in the gravitational gauge field equation, and the anomalously large vacuum energy density does not make a practical contribution to gravity. This would enable us to seek for a new route to the longstanding vacuum-energy cosmological constant problem. Some topics relevant to gravitational gauge theory and its applications in cosmology are also addressed. For example, the five-dimensional cosmology within the framework of the present gravitational gauge theory, in which a quasi fluid is emergent, can exhibit the effects of equivalent dark matter and dark energy.