The leaf spring has significant hysteresis characteristics due to the interleaf friction. The traditional three-link model could not simulate the hysteresis characteristics at all. According to the dynamic load test results one can find that the dynamic stiffness of leaf spring has a nonlinear relationship with the travel distance and the load frequency has a tiny influence on it. Based on the traditional three-link model, this paper proposed a simulation modeling method by introducing torsional friction on the revelute joint. The key parameters including torsional spring stiffness, friction torque preload, stiction transition velocity and max stiction deformation are optimized by combining the ADAMS, OPTIMUS and MATLAB. The comparsion analysis between the simulation and test results of front and rear leaf springs have revealed that the simulation precision is up to 92%. The proposed simulation modeling method of leaf spring lays a foundation for the high efficieny and precision modeling of vehicles.