Volumetric hydraulic drive systems are quite widespread in many industrial sectors. To determine the degree of reliability of hydraulic machines, it is necessary to conduct resource tests. The main requirement for such tests is the compliance of the load level with the operating mode of the hydraulic machine. Analysis of existing methods of creating such a load showed a significant drawback of bench tests—the lack of useful work. Therefore, a number of authors suggest the use of stands with a regenerative drive system. One peculiarity of the work of such stands is the possibility of returning part of the spent energy back to the test system. However, such systems are insufficiently studied and have significant drawbacks. The purpose of this work is to increase the efficiency of the regenerative drive system of the test bench of volumetric hydraulic machines of rotational action by improving the theory and methodology of its calculation and design. This article describes the principle of operation of the circuit of the regenerative drive of the test bench of rotary hydraulic machines. A model of the elastic-dissipative state of the sections of the elements of the hydro-mechanical drive system of the stand is also proposed, which allows for the calculation of the structural and energy parameters of the regenerative hydro-mechanical system. The main structural and functional parameters affecting the operational performance of the system as a whole are also identified. A “test efficiency coefficient” is proposed, which allows for evaluation of the energy efficiency of the test process.