Exploring the moon has always been a dream of humanity. For lunar exploration, there is an urgent need for legged jumping robots that are suited to the lunar environment. These robots are currently at the cutting edge of academic research. However, the moon’s low gravity and uneven terrain impose high technical demands on these robots’ jumping capabilities. As of now, there are no known robots capable of executing such jumps on the moon. This paper presents a motion control algorithm specifically designed for a small-scale lunar jumping robot. The algorithm’s feasibility is verified through Adams-Simulink coupled simulation. Based on these simulation results, the control algorithm is implemented in a physical robot, and subsequent jumping experiments demonstrate that the robot can achieve stable and slope-adapted jumping motions in a low-gravity environment.