• A new stiffness model of the hydraulic cylinder was established, which incorporated factors of the compressibility of the oil, the axial deformation of the piston rod, the volume expansion of cylinder barrel, and the volume expansion of flexible hoses. • The level of each impacting factor on the hydraulic cylinder stiffness was analysed: the compressibility of the oil is about 80 %, the volume expansion of the cylinder barrel is about 10 %, the axial deformation of the piston rod is about 6 %, and the volume expansion of flexible hoses is about 3 %. The impact of either the volume expansion of metal pipes or the sealing deformation is very small. • Experimental tests proved that the content of the air in the hydraulic oil influences both the hydraulic cylinder stiffness andthe bulk modulus significantly, but only at a low pressure level (P < 6 MPa).• Tests proved that the change of the hydraulic cylinder stiffness is nonlinear. When the pressure P < 6 MPa, the degree of nonlinearity is relatively high. However, when the pressure is P > 6 MPa, the stiffness approaches to linearity.