The paper analyzes the characteristics of driveline torsional vibration of a RWD vehicle and provides the control methods of transmission rattle noise caused by the system torsional resonances. A driveline dynamic model of the RWD vehicle is established by multi-body dynamic method. The natural frequencies and modal shapes are calculated for each gear position and torsional vibration responses are predicted by forced vibration analysis. The system sensitivity and DOE are analyzed based on the parameterized stiffness, inertia and damping.The 2nd and 3rd order modal results show that the transmission shaft possesses the maximum amplitudes and its corresponding modal frequencies vary with different gear position. The sensitivity analysis results show that the system torsional vibration is significantly reduced by reducing clutch stiffness, increasing propeller shaft stiffness, raising half shaft stiffness, increasing the input shaft inertia and increasing the clutch damping. The DOE analysis results show that the clutch stiffness, propeller shaft stiffness, and the inertia of axle pinion shaft and transmission input shaft play an important role in reducing torsional vibration of the transmission gear shafts.A clutch with small stiffness and large torsional angle is tested and the transmission gear rattle noise is greatly reduced. The analysis results show excellent consistency with the test results.